Micro Manipulation Using Magnetic Microrobots  

作　　者：Hoyeon Kim Jamel Ali U Kei Cheang Jinwoo Jeong din Seok Kim Min dun Kim 

机构地区：[1]Department of Mechanical Engineering, Southern Methodist University, Dallas, TX75272, USA [2]Department of MechanicaI Engineering and Mechanics, Drexel University, Philadelphia, PA 19104, USA [3]Center for Bionics, Korea Institute of Science and Technology, 5 Hwarang-ro 14-gil, Seongbuk-gu, Seou102792, Republic of Korea

出　　处：《Journal of Bionic Engineering》2016年第4期515-524,共10页仿生工程学报（英文版）

摘　　要：When developing microscale robotic systems it is desired that they are capable of performing microscale tasks such as small scale manipulation and transport. In this paper, we demonstrate the transport of microscale objects using single or multiple microrobots in low Reynolds number fluidic environment. The microrobot is composed of a ‘U＇ shaped SU-8 body, coated on one side with nickel. Once the nickel coating is magnetized, the motion of the microrobots can be driven by external magnetic fields. To invoke different responses from two microrobots under a global magnetic field, two batches of microrobots were fabricated with different thicknesses of nickel coating as a way to promote heterogeneity within the microrobot population. The heterogeneity in magnetic content induces different spatial and temporal responses under the same control input, resulting in differences in movement speed. The nickel coated microstructure is manually controlled through a user interface developed using C＋＋. This paper presents a control strategy to navigate the microrobots by controlling the direction and strength of ex- ternally applied magnetic field, as well as orientation of the microrobots based on their polarity. In addition, multiple micro- robots are used to perform transport tasks.When developing microscale robotic systems it is desired that they are capable of performing microscale tasks such as small scale manipulation and transport. In this paper, we demonstrate the transport of microscale objects using single or multiple microrobots in low Reynolds number fluidic environment. The microrobot is composed of a ‘U＇ shaped SU-8 body, coated on one side with nickel. Once the nickel coating is magnetized, the motion of the microrobots can be driven by external magnetic fields. To invoke different responses from two microrobots under a global magnetic field, two batches of microrobots were fabricated with different thicknesses of nickel coating as a way to promote heterogeneity within the microrobot population. The heterogeneity in magnetic content induces different spatial and temporal responses under the same control input, resulting in differences in movement speed. The nickel coated microstructure is manually controlled through a user interface developed using C＋＋. This paper presents a control strategy to navigate the microrobots by controlling the direction and strength of ex- ternally applied magnetic field, as well as orientation of the microrobots based on their polarity. In addition, multiple micro- robots are used to perform transport tasks.

关 键 词：MICROROBOT magnetic control microtransport magnetic polarity MICROMANIPULATION 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] O484.43[自动化与计算机技术—控制科学与工程]