Study on mathematic magnetic field model of rectangular coils for magnetic actuation

Magnetic actuation is an efficient way for wireless manipulation of micro-robots. One key factor for the actuation is determining of the magnetic field components and the field gradients of electromagnetic coils. Usually, magnetic dipole model or interpolation method is used to calculate the magnetic field. These methods are not well suitable for estimation of the magnetic field. In this paper, we present a mathematic magnetic field model of rectangular electromagnetic coils for magnetic actuation. The proposed model is based on the Biot-Savart Law and superposition principle. Finite element software is used to verify the proposed model. The final analytical expressions are given and simulation results show the feasibility of the method.