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magnetic-coil-design
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Design and Fabrication of a Control Setup for a Miniature Mobile Robot Excited by Magnetic Field
, M.Sc. Thesis Sharif University of Technology ; Zohoor, Hassan (Supervisor) ; Nejat Pishkenari, Hossein (Co-Supervisor)
Abstract
Humans can take lots of advantages from influencing on small particles. Since manipulation of micro sizes by humans or macro robots, due to their precession and size, is not possible, a new field of study, called Microrobotics, has been introduced. To better understand the working principles in small dimensions, we first need to know the governing physics laws. This step helps us to identify the dominant forces in the small dimensions, which, in turn, leads to better actuation of miniature robots. Because of the size of the miniature robots, one of the best actuation methods is the interaction of the magnetic field on magnetic dipoles. To use the magnetic field as an actuation force, the...
Completion of Electromagnetic System and Design of Robust Controller to Control the Movement of Micro-robots in Three-Dimensional Space
, M.Sc. Thesis Sharif University of Technology ; Nejat Pishkenari, Hossein (Supervisor)
Abstract
Today, the need to access very small environments is felt in various medical, industrial, biological and military fields. Due to their small size, microrobots have the ability to perform tasks that would be very difficult to do on a larger scale, but this ability of microrobots makes feeding and controlling them challenging. There are several methods for providing power and control of microrobots, which include their internal or external stimulation, among which the magnetic stimulation method is used in this research, which does not cause damage to body tissues.In this thesis, an electromagnetic system with nine cylindrical coils is used to control the three-dimensional movement of magnetic...