Two-Dimensional Contact and Noncontact Micromanipulation in Liquid Using an Untethered Mobile Magnetic Microrobot
IEEE Transactions on Robotics(2009)
摘要
This paper presents the manipulation of microspheres under water by use of an untethered electromagnetically actuated magnetic microrobot (Mag-muBot), with dimensions 250 times 130 times 100 mum3. Manipulation is achieved by two means: contact and noncontact pushing modes. In contact manipulation, the Mag-muBot is used to physically push the microspheres. In noncontact manipulation, the fluid flow generated by the translation of the Mag-muBot is used to push the microspheres. Modeling of the system is performed, taking into account micrometer-scale surface forces and fluid drag effects to determine the motion of a sphere within a robot-generated fluid flow. Fluid drag models for free-stream flow and formulations for near-wall flow are both analyzed and compared with the experiments, in which pushing of two sphere sizes, i.e., 50 and 230 mum diameters, is characterized in a controlled, robot-generated flow. Dynamic simulations are provided using the developed physical models to capture this behavior. We find that the near-wall physical models are, in general, in agreement with the experiment, and free-stream models overestimate microsphere motion.
更多查看译文
关键词
end effectors,flow simulation,fluid dynamics,manipulator dynamics,mechanical contact,microrobots,mobile robots,Mag-muBot,free-stream flow,microspheres manipulation,near-wall flow,noncontact micromanipulation,robot-generated fluid flow,two-dimensional contact,untethered mobile magnetic microrobot,Dynamics,manipulation planning,mechanism design,micro/nanorobots,telerobotics
AI 理解论文
溯源树
样例
生成溯源树,研究论文发展脉络
Chat Paper
正在生成论文摘要