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Independent control of multiple magnetic microrobots: design, dynamic modelling, and control

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Abstract

Swimming microrobots have a variety of applications including drug delivery, sensing, and artificial fertilization. Their small size makes onboard actuation very hard, and therefore an external source such as the magnetic field is a practical way to steer and move the robot. In this paper, we have designed a novel microrobot steered by magnetic paddles. We have also discussed design parameters where, based on the conducted simulation, the robot speed reaches 520 um/s. It is shown that the microrobot speed depends on the robot paddle dimensions. According to the microrobots motion characteristics and their different reactions to the same input, we have designed a steering strategy for point-to-point control of multiple microrobots.

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Authors and Affiliations

  1. Nanorobotics Laboratory, Department of Mechanical Engineering, Sharif University of Technology, Tehran, Iran

    Ruhollah Khalesi & Hossein Nejat Pishkenari

  2. Department of Mechanical Engineering, Sharif University of Technology, Tehran, Iran

    Gholamreza Vossoughi

Authors
  1. Ruhollah Khalesi
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  2. Hossein Nejat Pishkenari
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  3. Gholamreza Vossoughi
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Correspondence to Hossein Nejat Pishkenari.

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Khalesi, R., Nejat Pishkenari, H. & Vossoughi, G. Independent control of multiple magnetic microrobots: design, dynamic modelling, and control. J Micro-Bio Robot 16, 215–224 (2020). https://doi.org/10.1007/s12213-020-00136-1

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  • DOI: https://doi.org/10.1007/s12213-020-00136-1

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