Toward miniaturization of magnetically-driven/levitated robots for micromanipulation: downscaling from macro- to micro-levitation

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The proposed research is a continuation of the prior research on the development of magnetically-driven robots. Magnetic levitation is a promising technology which can be applied for micromanipulation in strictly controlled environments, since it does not use long-reached and jointed parts. At the MagLev Microrobotics Laboratory of the University of Waterloo, a novel apparatus has been built for the three-dimensional magnetically-levitated movement of centimetre-size robots (2.5 cm^3). Levitated robots equipped with grippers have been developed that can be used for pick-and-place tasks and manipulation of small objects. These robots use a Shape Memory Alloy (SMA) actuator as a gripper. Thus, the robots have to use an onboard power supply for the SMA actuation.