Independent control of multiple magnetic microrobots: design, dynamic modelling, and control
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RESEARCH PAPER
Independent control of multiple magnetic microrobots: design, dynamic modelling, and control Ruhollah Khalesi 1 & Hossein Nejat Pishkenari 1
&
Gholamreza Vossoughi 2
Received: 30 November 2019 / Revised: 8 May 2020 / Accepted: 5 June 2020 # Springer-Verlag GmbH Germany, part of Springer Nature 2020
Abstract Swimming microrobots have a variety of applications including drug delivery, sensing, and artificial fertilization. Their small size makes onboard actuation very hard, and therefore an external source such as the magnetic field is a practical way to steer and move the robot. In this paper, we have designed a novel microrobot steered by magnetic paddles. We have also discussed design parameters where, based on the conducted simulation, the robot speed reaches 520 um/s. It is shown that the microrobot speed depends on the robot paddle dimensions. According to the microrobots motion characteristics and their different reactions to the same input, we have designed a steering strategy for point-to-point control of multiple microrobots. Keywords Swimming microrobot . Magnetic field . Paddle . Low Reynolds number . Simultaneous control
1 Introduction Microrobots by accessing small spaces have great potential in cell sorting, micro-assembly, drug delivery, and sensor networks [1–6]. Due to low speed and small size of microrobots, Reynold’s number is very small, making inertial forces negligible in comparison with viscous forces. In this steady creeping flow, named Stokes flow, based on the Scallop theorem proposed by Purcell, in order to have a net displacement, the microswimmers must have nonreciprocal motion [7]. Due to small size of microrobots, design and fabrication of small onboard actuators and sensors are difficult tasks, but in literature, some works are based on using small-scale motors and actuators. In [6], Yang reviewed MEMS-based actuation and sensing methods. Actuators presented in this state-of-theart survey, are listed in five main sub-groups: electro-thermal,
Electronic supplementary material The online version of this article (https://doi.org/10.1007/s12213-020-00136-1) contains supplementary material, which is available to authorized users. * Hossein Nejat Pishkenari [email protected] 1
Nanorobotics Laboratory, Department of Mechanical Engineering, Sharif University of Technology, Tehran, Iran
2
Department of Mechanical Engineering, Sharif University of Technology, Tehran, Iran
electrostatic, shape memory alloy, piezoelectric, and electromagnetic actuators. In [8], using a global magnetic field and local magnetic interactions between two microgrippers, independent simultaneous position control of two microrobots with end-effectors were proposed. The global magnetic field also was employed for a gripper grasping and releasing command. Jalali et al. [9] designed and simulated the motion of microswimmer named Quadroar composed of one linear and four rotary actuators. They proved this microrobot could perform three-dimensional reorientation and forward and transverse movement. In
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