Title :
Holonomic 5-DOF magnetic control of 1D nanostructures
Author :
Schürle, S. ; Peyer, K.E. ; Kratochvil, B.E. ; Nelson, B.J.
Author_Institution :
Inst. of Robot. & Intell. Syst., ETH Zurich, Zurich, Switzerland
Abstract :
This paper presents a manipulation system capable of five degree of freedom (5-DOF) control of a magnetic nanoagent (3-DOF position, 2-DOF orientation) implemented on an inverted microscope. Magnetic fields up to 50 mT and gradients up to 5 T/m at frequencies up to 6 kHz can be achieved. The independent generation of field and gradient vectors enables holonomic 5-DOF wireless magnetic manipulation at the nanoscale. Multiple types of motion were investigated for nickel nanowires of different lengths and analyzed using resistive force theory.
Keywords :
magnetic fields; magnetic forces; manipulators; microscopes; motion control; nanostructured materials; nickel; position control; vectors; 1D nanostructures; 2-DOF orientation; 3-DOF position; five-degree-of-freedom control; frequencies; gradient vectors; holonomic 5-DOF wireless magnetic manipulation; inverted microscope; magnetic field generation; magnetic nanoagent; nanoscale; nickel nanowire lengths; resistive force theory; Drag; Force; Magnetic forces; Magnetic resonance imaging; Magnetization; Nanostructures; Vectors;
Conference_Titel :
Robotics and Automation (ICRA), 2012 IEEE International Conference on
Conference_Location :
Saint Paul, MN
Print_ISBN :
978-1-4673-1403-9
Electronic_ISBN :
1050-4729
DOI :
10.1109/ICRA.2012.6224926
