Modeling and Experimental Characterization of an Untethered Magnetic Micro-Robot
International Journal of Robotics Research
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Control methodologies for a heterogeneous group of untethered magnetic micro-robots
International Journal of Robotics Research
International Journal of Robotics Research
Automated biomanipulation of single cells using magnetic microrobots
International Journal of Robotics Research
Independent control of multiple magnetic microrobots in three dimensions
International Journal of Robotics Research
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This paper presents the manipulation of microspheres under water by use of an untethered electromagnetically actuated magnetic microrobot (Mag-muBot), with dimensions 250 times 130 times 100 mum3. Manipulation is achieved by two means: contact and noncontact pushing modes. In contact manipulation, the Mag-muBot is used to physically push the microspheres. In noncontact manipulation, the fluid flow generated by the translation of the Mag-muBot is used to push the microspheres. Modeling of the system is performed, taking into account micrometer-scale surface forces and fluid drag effects to determine the motion of a sphere within a robot-generated fluid flow. Fluid drag models for free-stream flow and formulations for near-wall flow are both analyzed and compared with the experiments, in which pushing of two sphere sizes, i.e., 50 and 230 mum diameters, is characterized in a controlled, robot-generated flow. Dynamic simulations are provided using the developed physical models to capture this behavior. We find that the near-wall physical models are, in general, in agreement with the experiment, and free-stream models overestimate microsphere motion.