A novel micro-scale magnetic tumbling microrobot
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RESEARCH PAPER
A novel micro-scale magnetic tumbling microrobot Wuming Jing · Nicholas Pagano · David J. Cappelleri
Received: 29 February 2012 / Revised: 12 October 2012 / Accepted: 29 October 2012 / Published online: 30 January 2013 © Springer-Verlag Berlin Heidelberg 2013
Abstract This paper presents a magnetic tumbling microrobot design at the micro-scale. The microrobot has a dumb-bell shape whose largest dimension is about 400 µm. When subjected to an exterior predefined magnetic field, the magnetic microagent performs a tumbling motion driven by the interacting magnetic forces and momentums. The magnetic field providing driven force is generated by a coil system consisting of five electromagnetic coils. Under the available driven field, we show that the prototype agent is able to tumble on various types of surfaces in both dry and fluid environments. Keywords Tumbling motion · Magnetic microrobot
1 Introduction Microrobotics in submillimeter scale has emerged within the last decade, especially with untethered microrobots with the attractive features due to their small size and working modes. As one of the next waves in intelligent systems, microrobots have shown potential in advanced manufacturing, the health care industry and in the continued miniaturization of consumer products [1]. Especially in
W. Jing · N. Pagano · D. J. Cappelleri () Multi-Scale Robotics & Automation Lab, Department of Mechanical Engineering, Stevens Institute of Technology, Hoboken, NJ 07030, USA e-mail: [email protected] W. Jing e-mail: [email protected] N. Pagano e-mail: [email protected]
biotechnology and medical applications [2], such as minimally invasive surgery and targeted drug delivery, vast potential impacts exist. Features of untethered operation and small size are necessary for all these applications. Aside from the wireless operation, power delivery is still a major challenge for real applications and locomotion mechanisms still need delicate designs in order to achieve controllable motions. Thus, this paper explores a low-powered, dexterous microrobot design for practical real-world applications. Tremendous efforts have been made in microrobot research with regards to real applications. Bistable mechanism [3], optical controlled bubbles [4], and magnetic levitation [5] have been applied to develop the microrobots for MEMS assembly tasks. Ikeuchi et al. [6] used an optically driven microrobot to derive realtime 3D images for bio-manipulation. Various magnetic microrobotics designs [7–15] have also been investigated for biological and medical industries. Swimming magnetic microrobots have been realized in a spiral structure [8] and flapping mechanisms [9]. Hagiwara et al. took advantage of the permanent magnetic microrobots to aid cell enucleation and manipulation in [10, 11]. In [13] and [14], magnetic microrobots were tested in simulated blood vessel environments. Martel et al. [15] have conducted automatic navigation of au untethered magnetic device in the artery of living animals. Additionally, an elec
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