Microparticle manipulation using multiple untethered magnetic micro-robots on an electrostatic surface

Authors:
Steven Floyd;Chytra Pawashe;Metin Sitti
Affiliations:
Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA;Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA;Department of Mechanical Engineering and Robotics Institute, Carnegie Mellon University, Pittsburgh, PA
Venue:
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Year:
2009

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Abstract

This work presents the control of multiple untethered rectilinear magnetic micro-robots (Mag-µBots) with dimensions 250 × 130 × 100 µm3 actuated by pulsed external magnetic fields, which translate by induced stick-slip motion at speeds of up to 4 mm/s immersed in silicone oil. Multiple Mag-µBot control is enabled by employing an array of individually addressable electrostatic surfaces to selectively anchor individual Mag-µBots. Coupled parallel and uncoupled serial motion of multiple robots is demonstrated, and they can combine to form an assembly that is also capable of motion. Manipulation of 230 µm diameter microspheres is also demonstrated cooperatively by two Mag-µBots in a fluid environment, and is enhanced when the two Mag-µBots are combined. An analysis of the electrostatic anchoring forces and the forces relevant to manipulation is discussed.