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Modeling and Experimental Characterization of an Untethered Magnetic Micro-Robot
Abstract
Here we present the control, performance and modeling of an untethered electromagnetically actuated magnetic micro-robot. The microrobot, which is composed of neodymium—iron—boron with dimensions 250 μm 1 130 μm 1 10 μm , is actuated by a system of six macro-scale electromagnets. Periodically varying magnetic fields are used to impose magnetic torques, which induce stick—slip motion in the micro-robot. These magnetic forces and torques are incorporated into a comprehensive dynamic model, which captures the behavior of the micro-robot. By pivoting the micro-robot about an edge, non-planar obstacles with characteristic sizes comparable to the robot length can be surmounted. Actuation is demonstrated on several substrates with different surface properties, in a fluid environment, and in a vacuum. Observed micro-robot translation speeds can exceed 10 mm s-1 .
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Cited by
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Yan, X., Zhou, Q., Vincent, M., Deng, Y., Yu, J., Xu, J., Xu, T., Tang, T., Bian, L., Wang, Y.-X. J., et al. (2017) · Science Robotics · doi:10.1126/scirobotics.aaq1155 · Cited by 893
Biomedical Applications of Untethered Mobile Milli/Microrobots
Sitti, M., Ceylan, H., Hu, W., Giltinan, J., Turan, M., Yim, S., & Diller, E. (2015) · Proceedings of the IEEE · doi:10.1109/jproc.2014.2385105 · Cited by 893
Self-citationBio-inspired magnetic swimming microrobots for biomedical applications
Peyer, K. E., Zhang, L., & Nelson, B. J. (2013) · Nanoscale · doi:10.1039/c2nr32554c · Cited by 820
Three‐Dimensional Programmable Assembly by Untethered Magnetic Robotic Micro‐Grippers
Diller, E., & Sitti, M. (2014) · Advanced Functional Materials · doi:10.1002/adfm.201400275 · Cited by 323
Self-citationA review of magnet systems for targeted drug delivery
Liu, Y.-L., Chen, D., Shang, P., & Yin, D.-C. (2019) · Journal of Controlled Release · doi:10.1016/j.jconrel.2019.03.031 · Cited by 298
Metadata
- Authors
- Pawashe, C., Floyd, S., & Sitti, M.
- Venue
- The International Journal of Robotics Research
- Publisher
- SAGE Publications
- Published
- 2009-07-01
- Volume
- 28
- Issue
- 8
- Pages
- 1077-1094
- ISSN
- 0278-3649 (ISSN-L)
- 1741-3176
- OpenAlex
- W2049220874
- Cited by
- 318
- References
- 0
- FWCI
- 19.94
- Type
- journal article
- Language
- en
- Open access
- closed
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- Pawashe, C., Floyd, S., & Sitti, M. (2009). Modeling and Experimental Characterization of an Untethered Magnetic Micro-Robot. The International Journal of Robotics Research. https://doi.org/10.1177/0278364909341413
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