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

提出的研究是先前对磁驱动机器人发展研究的延续。磁悬浮技术是一种很有前途的技术，它可以应用于严格控制环境下的微操作，因为它不使用长接触和连接的部件。在滑铁卢大学的磁悬浮微型机器人实验室，一种新颖的装置已经建成，用于厘米大小的机器人（2.5 cm^3）的三维磁悬浮运动。配备抓手的悬浮机器人已经被开发出来，可以用于拾取和放置任务和操纵小物体。这些机器人使用形状记忆合金（SMA）致动器作为抓手。因此，机器人必须使用板载电源来驱动SMA。

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.