DocumentCode :
250164
Title :
A novel two-dimensional locomotion scheme of a micro-robot with only a uniform magnetic field
Author :
Jinsoo Kim ; Seung-Jong Kim
Author_Institution :
Center for Bionics, Korea Inst. of Sci. & Technol. (KIST), Seoul, South Korea
fYear :
2014
fDate :
May 31 2014-June 7 2014
Firstpage :
2071
Lastpage :
2076
Abstract :
This paper presents a novel motion control method of a micro-robot for biomedical applications. The proposed micro-robot is composed of a permanent magnet with oblique magnetization, and the electromagnetic actuation (EMA) system consists of only two pairs of Helmholtz coils arranged at a right angle on a horizontal plane. While conventional systems generally use the magnetic field gradient for the propulsion, the proposed system uses only a uniform magnetic field. By virtue of these strategies, we can make the system smaller and reduce the power consumption compared to the pre-existing EMA systems. To verify the feasibility of the proposed system, basic experiments and trajectory tracking were performed under different environments.
Keywords :
magnetic fields; medical control systems; microrobots; motion control; permanent magnets; trajectory control; 2D locomotion scheme; Helmholtz coils; biomedical applications; electromagnetic actuation system; magnetic field gradient; microrobot; motion control method; oblique magnetization; permanent magnet; power consumption reduction; trajectory tracking; uniform magnetic field; Coils; Force; Friction; Magnetic fields; Magnetization; Propulsion; Torque;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation (ICRA), 2014 IEEE International Conference on
Conference_Location :
Hong Kong
Type :
conf
DOI :
10.1109/ICRA.2014.6907134
Filename :
6907134
Link To Document :
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