基于振荡匀强磁场驱动的磁力微机器人  

A Magnetic Micro-Robot Based on Oscillating Uniform Magnetic-Field-Actuation

作　　者：郑亮[1] 黄海波[1,2] 李相鹏[1] 

机构地区：[1]苏州大学机电工程学院机器人与微系统研究中心,江苏苏州215000 [2]苏州大学机电工程学院纳米科技协同创新中心,江苏苏州215000

出　　处：《微纳电子技术》2016年第5期304-309,共6页Micronanoelectronic Technology

基　　金：国家自然科学青年基金资助项目(61203208);国家自然科学基金资助项目(61327802)

摘　　要：提出了一种基于磁场驱动的蝌蚪形微型机器人系统。系统主要包含基于Helmholtz线圈搭建的磁场控制平台和一个特征长度为4 mm的具有蝌蚪外形的微机器人。通过在线圈中施加符合特定变化规律的电流信号来产生绕定轴振荡的外驱动磁场,再驱动位于控制平台内的磁力微机器人进行同频摆动,依靠微机器人尾部将摆动转化为前进的推力,从而模拟蝌蚪在液体环境下运动。实验中在频率为2.5 Hz、磁感应强度为5.7 mT的弱外磁场驱动下,成功驱动了微机器人向前运动,且初步设计的原型机运动速度约为1 mm/s,验证了提出的驱动方式和设计的驱动系统的可行性和有效性。An uniform magnetic-field-actuation based tadpole shaped micro-robot system was presented.The system mainly contains a magnetic control platform constructed by two Helmholtz coils and a tadpole shaped micro-robot with the characteristic length of 4 mm.By applying the current signal changing with the specialized rule into the coils,the outer oscillatory uniform magnetic field around the fixed axle was generated,and then the magnetic micro-robot at the control platform was driven to swing its tail synchronously,the motion strategy of a tadpole in the liquid was mimicked by transforming the swing motion of the micro-robot tail to the driven force.And in actual experiments,the designed micro-robot was successfully actuated by a weak magnetic field of 2.5 Hz frequency and 5.7 mT magnetic induction intensity.The preliminarily designed micro-robot can move forward at about 1 mm/s along apredefined direction,verifying the feasibility and effectiveness of the proposed driven method and designed drive system.

关 键 词：匀强磁场驱动 微机器人 振荡磁场 Helmholtz线圈 运动实验 

分 类 号：TH703[机械工程—仪器科学与技术]