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Design and Fabrication of a Device for Positioning Magnetic Micro Robot

Agha Seyed Mirzabozorg, Amir Hossein | 2018

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 51066 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Nejat, Hossein; Vossoughi, Golamreza
  7. Abstract:
  8. At the moment, one of the most important challenges that human beings are struggling with is the dominance of micro and nano dimensions. Considering the potential of microorganisms, and in particular magnetic microscopes, it is believed that using this technology, humans would be able to meet most of their needs. Studies have shown that it is possible to control the position of a magnetic microrobots, through the production of magnetic fields, with sufficient accuracy. Since magnetic fields are biocompatible, magnetic microrobots can also be used in biotechnology and medical applications.In this dissertation, a positioning device was designed and constructed with the ability to position the microrobot in three dimensions. In this device, six magnet coils are used to position the microrobot. The coils are fabricated with same physical characteristics. This leads to a symmetry in the collection. Coils are designed using the coil32 software. The design of the set is made so that it is easy to replace the coils by easily removing the device. In order to control the closed loop of microrobot on the surface (in two dimensions), a camera is used to detect the instantaneous microrobot position, which includes the x and y coordinates. The base of the camera is designed to adjust the camera's position. Microrobot moves on a surface made of plexiglas that is lubricated. It has been shown that the PD controller, which its coefficients are determined empirically, can be positioned using the four coils on the surface
  9. Keywords:
  10. Micro Robot ; Magnetic Fields ; Magnetic Micro-robot ; Proportional-Derivative (PD) Control ; Positioning Device

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