Stability of Soft Magnetic Helical Microrobots
Stability of Soft Magnetic Helical Microrobots
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DOI：
10.3390/fluids5010019
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发表时间：
2020-02
期刊：
影响因子：
1.9
通讯作者：
Kiarash Samsami;S. Mirbagheri;F. Meshkati;H. Fu
中科院分区：
文献类型：
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作者：
Kiarash Samsami;S. Mirbagheri;F. Meshkati;H. Fu
纳/微机器人游泳者有许多可能的生物医学应用，如药物输送和微操作。本文探讨了其中最有前途的一类：刚性磁性microrobots，推动通过散装流体由旋转磁场引起的旋转。推进对应于与磁场共同旋转的这种微型机器人的动力学的稳定旋转和平移解决方案。为了在实验中观察到并服从于操纵控制，这样的解还必须对扰动稳定。在本文中，我们解析推导出一个标准的稳定性，这种稳定的旋转解决方案的微型机器人制成的软磁材料，它有一个磁化强度，取决于所施加的磁场。这一结果概括了以前的稳定性标准，我们得到的microrobots与永久磁化。
Nano/microrobotic swimmers have many possible biomedical applications such as drug delivery and micro-manipulation. This paper examines one of the most promising classes of these: rigid magnetic microrobots that are propelled through bulk fluid by rotation induced by a rotating magnetic field. Propulsion corresponds to steadily rotating and translating solutions of the dynamics of such microrobots that co-rotate with the magnetic field. To be observed in experiments and be amenable to steering control, such solutions must also be stable to perturbations. In this paper, we analytically derive a criterion for the stability of such steadily rotating solutions for a microrobot made of soft magnetic materials, which have a magnetization that depends on the applied field. This result generalizes previous stability criteria we obtained for microrobots with a permanent magnetization.