Five-degree-of-freedom magnetic control of micro-robots using rotating permanent magnets
Five-degree-of-freedom magnetic control of micro-robots using rotating permanent magnets
复制标题
利用旋转永磁体对微型机器人进行五自由度磁控制
DOI：
--
复制
发表时间：
2016
期刊：
影响因子：
--
通讯作者：
E. Diller
中科院分区：
文献类型：
--
作者：
P. Ryan;E. Diller
最近在用于生物医学或微流体应用的磁驱动微型机器人方面的工作已经产生了电磁驱动系统，该系统可以在远程环境中对亚毫米级的简单磁性设备进行精确的五自由度控制。本文提出了一种新型驱动系统，该系统使用一系列大型可旋转永磁体来产生与不受束缚的微型机器人系统相同水平的控制，并具有增加磁场和梯度强度以及最小化热量产生的潜力。我们证明系统可以在工作空间产生任何场或场梯度（包括零值）。与之前的永磁体致动系统相比，这里提出的系统在控制磁体没有任何危险的平移运动的情况下实现了这一点，从而形成了简单、安全且廉价的系统。所提出的概念验证原型系统具有八个永磁体，可以在任何方向上产生强度分别为 30 mT 和 0.83 T·m-1 的磁场和梯度。该系统的有效性通过 250 μm 微磁体在平均精度为 39 μm 的路径跟踪任务中的表征和反馈控制得到体现。
Recent work in magnetically-actuated micro-scale robots for biomedical or microfluidic applications has resulted in electromagnetic actuation systems which can command precise five-degree-of-freedom control of simple magnetic devices at the sub-millimeter scale in remote environments. This paper presents a new type of actuation system which uses an array of large, rotatable, permanent magnets to generate the same level of control over untethered micro-robotic systems with the potential for increased field and gradient strength and minimal heat generation. We show that the system can produce any field or field gradient at the workspace (including a value of zero). In contrast with previous permanent magnet actuation systems, the system proposed here accomplishes this without any hazardous translational motion of the control magnets, resulting in a simple, safe, and inexpensive system. The proof-of-concept prototype system presented, with eight permanent magnets, can create fields and gradients in any direction with strength of 30 mT and 0.83 T·m-1, respectively. The effectiveness of the system is shown through characterization and feedback control of a 250 μm micro-magnet in a path-following task with average accuracy of 39 μm.