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Design and Fabrication of a Control Setup for a Miniature Mobile Robot Excited by Magnetic Field

Salehi, Mobin | 2019

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 52796 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Zohoor, Hassan; Nejat Pishkenari, Hossein
  7. Abstract:
  8. 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 methods of creating magnetic fields should be studied. Besides, for reaching a specific goal in the small dimension, the movement of the miniature robot must be controlled. Hence, a control loop must be designed to operate in the small world.In this study, we design and fabricate a setup for controlling the position of a wheeled millirobot. This robot is actuated by a magnetic field, and because of the robot's shape, the actuation methods must be in the form of torques; therefore, the Helmholtz configuration is used in this project. To create a magnetic field in the desired direction, a suitable current should pass through the coils, so the precision and the current source need to be analyzed. In this project, first, the dynamic of the miniature robot is obtained; then, three controllers have been developed to control the position of the robot on the two-dimensional plate. Finally, the introduced controllers have been applied to an experimental setup. The results show the acceptable performance of the system
  9. Keywords:
  10. Magnetic Actuation ; Position Control ; Miniature Robot ; Magnetic Coil Design ; Magnetic Actuation ; Helmholtz Coil

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