Modeling and Experimental Characterization of an Untethered Magnetic Micro-Robot
| Autor: | Chytra Pawashe, Metin Sitti, Steven Floyd |
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| Rok vydání: | 2009 |
| Předmět: |
Engineering
Electromagnet business.industry Applied Mathematics Mechanical Engineering Acoustics Edge (geometry) Translation (geometry) Magnetic field Characterization (materials science) law.invention Computer Science::Robotics Artificial Intelligence Control theory law Modeling and Simulation Robot Torque Electrical and Electronic Engineering business Software |
| Zdroj: | The International Journal of Robotics Research. 28:1077-1094 |
| ISSN: | 1741-3176 0278-3649 |
| DOI: | 10.1177/0278364909341413 |
| Popis: | 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. |
| Databáze: | OpenAIRE |
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