Two-dimensional motion control of micro-robot by using two pairs of Helmholtz coils

This paper proposes a simplified electromagnetic actuation system for the motion control of a micro-robot. The proposed system uses only two pairs of Helmholtz coils for two-dimensional motion generation, while conventional systems use two pairs of Helmholtz coils and Maxwell coils, respectively. It can make the system smaller and increase the workspace of the micro-robot. And also, power consumption can be lower. To verify the feasibility of the proposed system, force analysis and basic experiments were performed.