An untethered magnetically actuated micro-robot capable of motion on arbitrary surfaces

This work presents an untethered magnetic micro- robot with dimensions of 250 mum x 130 mum x 100 mum . The robot is composed entirely of neodymium-iron-boron fabricated using laser micro-machining. It is actuated by a system of five macro-scale electromagnets. By using electromagnets to control the...

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Bibliographic Details
Published in2008 IEEE International Conference on Robotics and Automation pp. 419 - 424
Main Authors Floyd, S., Pawashe, C., Sitti, M.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.05.2008
Subjects
Coils
Electromagnets
Fabrication
Magnetic fields
Magnetic materials
Micromagnetics
Orbital robotics
Robotic assembly
Robotics and automation
Robots
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ISBN1424416469
9781424416462
ISSN1050-4729
DOI10.1109/ROBOT.2008.4543243

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Summary:This work presents an untethered magnetic micro- robot with dimensions of 250 mum x 130 mum x 100 mum . The robot is composed entirely of neodymium-iron-boron fabricated using laser micro-machining. It is actuated by a system of five macro-scale electromagnets. By using electromagnets to control the robot, the surface on which the robot operates need not be specialized, smooth, patterned, nor conductive. Two control methods, both based on periodic excitation of the robot, are attempted and compared. Controllable motion at speeds in excess of 2.8 mm/s, approximately 11 body lengths per second, is demonstrated. Teleoperated motion in two dimensions is shown, and the assembly of micro-particles is demonstrated underwater. Potential future applications include micro-scale manipulation, fabrication, and assembly of micro-systems.
ISBN:1424416469
9781424416462
ISSN:1050-4729
DOI:10.1109/ROBOT.2008.4543243