Towards batch fabrication and assembly of 3D microstructures: A sequential assembly planner with new hard magnet configuration

We propose a new method for assembly of 3D microstructures. Hard magnets are arranged in a novel 120deg offset configuration, allowing for in-situ magnetization. The new configuration makes the use of hard magnets feasible in batch fabrication, and hard magnets allow for the use of a uniform external field for application of magnetic torque. A sequential planner was developed to calculate layout and magnet orientations for given assemblies, based on this new magnet configuration. We describe the new magnet configuration, experimentally test the configuration, and present a planner that generates a planar layout and magnet orientations.