Next Article in Journal
Superhydrophobic Surfaces Enabled by Femtosecond Fiber Laser-Written Nanostructures
Previous Article in Journal
Enforcing a Force–Displacement Curve of a Nonlinear Structure Using Topology Optimization with Slope Constraints
Open AccessArticle

RectMag3D: A Magnetic Actuation System for Steering Milli/Microrobots Based on Rectangular Electromagnetic Coils

School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen 518055, China
*
Author to whom correspondence should be addressed.
Appl. Sci. 2020, 10(8), 2677; https://doi.org/10.3390/app10082677
Received: 2 March 2020 / Revised: 27 March 2020 / Accepted: 7 April 2020 / Published: 13 April 2020
Milli/microrobots benefit from their small size and can perform minimally invasive surgery in a limited tissue space and eliminate the need for fine operations such as thrombus, which not only reduces trauma to patients but also shortens the recovery period after surgery. In order to realize motion control of the milli/microrobot at a small scale, the external magnetic field-based control method has a significant advantage of wireless connection, safety, and high efficiency compared to other external actuation ways. Aiming at the actuation of milli/microrobots in human tissue fluid during a medical operation, we designed a milli/microrobot magnetic actuation system called RectMag3D, which is based on rectangular electromagnetic coils. It can realize five-degree-of-freedom motion control of milli/microrobot in three-dimensional space. It has the advantage of the accurate modeling of a magnetic field from each rectangular coil. Therefore, accurate control can be achieved. In this paper, the design and modeling of the proposed system have been introduced. A linear programming algorithm has been applied to achieve fixed-point actuation and displacement actuation. Experiments show that the milli/microrobot can realize the steering and linear motion to the target point in any direction in the limited working space under the control of the magnetic actuation system. View Full-Text
Keywords: milli/microrobot; magnetic actuation; feedback control milli/microrobot; magnetic actuation; feedback control
Show Figures

Figure 1

MDPI and ACS Style

Yuan, S.; Wan, Y.; Song, S. RectMag3D: A Magnetic Actuation System for Steering Milli/Microrobots Based on Rectangular Electromagnetic Coils. Appl. Sci. 2020, 10, 2677.

Show more citation formats Show less citations formats
Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Article Access Map by Country/Region

1
Search more from Scilit
 
Search
Back to TopTop