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Modeling and Experimental Characterization of an Untethered Magnetic Micro-Robot
Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA
* To whom correspondence should be addressed. E-mail: srfloyd{at}andrew.cmu.edu.
Here we present the control, performance and modeling of an untethered electromagnetically actuated magnetic micro-robot. The micro-robot, which is composed of neodymium–iron–boron with dimensions 250 µm x 130 µm x 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.
First published on July 1, 2009, doi:10.1177/0278364909341413 |
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