Departmental Papers (MEAM)

Document Type

Technical Report

Subject Area

GRASP

Date of this Version

5-11-2016

Abstract

A novel scalable strategy for open loop control of ferromagnetic microrobots on a plane using a scalable array of electromagnets is presented. Instead of controlling the microrobot directly, we create equilibrium points in the magnetic force field that are stable and attractive on the plane in which the microrobot is to be controlled. The microrobot moves into these equilibrium points rapidly in presence of low viscous forces, and thus controlling the equilibrium points let us control the microrobot precisely. An unit/cell in the array of electromagnets allows precise control of the microrobot in the unit/cell’s domain. Motion synthesis across multiple overlapping domains allows control of the microrobot in large regions across the array. We perform numerical analysis and demonstrate the control of the ferromagnetic microrobot using the proposed method through simulations.

Keywords

Microrobotics, Magnetic Control

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Date Posted: 12 December 2016