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Control of planar motion of a magnetic microrobot using a novel electromagnetic actuation system
, Article 4th International Conference on Manipulation, Automation, and Robotics at Small Scales, MARSS 2019, 1 July 2019 through 5 July 2019 ; 2019 ; 9781728109473 (ISBN) ; Moradi, A ; Nejat Pishkenari, H ; Sharif University of Technology
Institute of Electrical and Electronics Engineers Inc
2019
Abstract
A magnetic actuation system is a promising tool for untethered manipulation at the microscale that medical treatment can benefit from. This paper proposes a new magnetic actuation system that comprises of two coaxial coils on a rotary table. A fixed workspace is placed between coils. The proposed system is able to generate magnetic force with desired direction and magnitude in a plane. The conducted simulation and experiment confirm the capability of the proposed system to control the position of the microrobot. © 2019 IEEE