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Micromachines 2017, 8(2), 46;

On-Surface Locomotion of Particle Based Microrobots Using Magnetically Induced Oscillation

Department of Mechanical Engineering & Mechanics, Drexel University, Philadelphia, PA 19104, USA
Department of Mechanical Engineering, Southern Methodist University, Dallas, TX 75275, USA
Author to whom correspondence should be addressed.
Academic Editors: Hyoung Jin Cho and Sung Kwon Cho
Received: 1 December 2016 / Revised: 27 January 2017 / Accepted: 31 January 2017 / Published: 4 February 2017
(This article belongs to the Special Issue Bio-Inspired Micro/Nano Devices and Systems)
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The low Reynolds number condition presents a fundamental constraint on designing locomotive mechanisms for microscale robots. We report on the use of an oscillating magnetic field to induce on-surface translational motion of particle based microrobots. The particle based microrobots consist of microparticles, connected in a chain-like manner using magnetic self-assembly, where the non-rigid connections between the particles provide structural flexibility for the microrobots. Following the scallop theorem, the oscillation of flexible bodies can lead to locomotion at low Reynolds numbers, similar to the beating motion of sperm flagella. We characterized the velocity profiles of the microrobots by measuring their velocities at various oscillating frequencies. We also demonstrated the directional steering capabilities of the microrobots. This work will provide insights into the use of oscillation as a viable mode of locomotion for particle based microrobots near a surface. View Full-Text
Keywords: microrobotics; magnetic control; low Reynolds number microrobotics; magnetic control; low Reynolds number

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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).

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Cheang, U.K.; Ali, J.; Kim, H.; Rogowski, L.; Kim, M.J. On-Surface Locomotion of Particle Based Microrobots Using Magnetically Induced Oscillation. Micromachines 2017, 8, 46.

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