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Automatic path tracking and target manipulation of a magnetic microrobot
Wang JY(王敬依); Jiao ND(焦念东); Tung, Steve; Liu LQ(刘连庆)
作者部门机器人学研究室
关键词Magnetic Microrobot Automatic Path Tracking Expert Control Magnetic Microrobot Micromanipulation
发表期刊Micromachines
ISSN2072-666X
2016
卷号7期号:11页码:1-14
收录类别SCI ; EI
EI收录号20164903102542
WOS记录号WOS:000389131500017
产权排序1
资助机构National Natural Science Foundation of China (Grant No. 61573339) and the CAS/SAFEA International Partnership Program for Creative Research Teams
摘要Recently, wireless controlled microrobots have been studied because of their great development prospects in the biomedical field. Electromagnetic microrobots have the advantages of control agility and good precision, and thus, have received much attention. Most of the control methods for controlling a magnetic microrobot use manual operation. Compared to the manual method, the automatic method will increase the accuracy and stability of locomotion and manipulation of microrobots. In this paper, we propose an electromagnetic manipulation system for automatically controlling the locomotion and manipulation of microrobots. The microrobot can be automatically controlled to track various paths by using visual feedback with an expert control algorithm. A positioning accuracy test determined that the position error ranges from 92 to 293 μm, which is less than the body size (600 μm) of the microrobot. The velocity of the microrobot is nearly proportional to the applied current in the coils, and can reach 5 mm/s. As a micromanipulation tool, the microrobot is used to manipulate microspheres and microgears with the automatic control method. The results verify that the microrobot can drag, place, and drive the microstructures automatically with high precision. The microrobot is expected to be a delicate micromachine that could play its role in microfluidics and blood vessels, where conventional instruments are hard to reach..
语种英语
WOS标题词Science & Technology ; Technology
WOS类目Nanoscience & Nanotechnology ; Instruments & Instrumentation
关键词[WOS]FLAGELLATED BACTERIA ; MRI ; FABRICATION ; PROPULSION ; ROBOT
WOS研究方向Science & Technology - Other Topics ; Instruments & Instrumentation
引用统计
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/19727
专题机器人学研究室
通讯作者Jiao ND(焦念东); Liu LQ(刘连庆)
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.University of Chinese Academy of Sciences, Beijing 100049, China
3.Department of Mechanical Engineering, University of Arkansas, Fayetteville, AR, 72701, United States
4.Beijing Advanced Innovation Center for Imaging Technology, Capital Normal University, Beijing, 100037, China
推荐引用方式
GB/T 7714
Wang JY,Jiao ND,Tung, Steve,et al. Automatic path tracking and target manipulation of a magnetic microrobot[J]. Micromachines,2016,7(11):1-14.
APA Wang JY,Jiao ND,Tung, Steve,&Liu LQ.(2016).Automatic path tracking and target manipulation of a magnetic microrobot.Micromachines,7(11),1-14.
MLA Wang JY,et al."Automatic path tracking and target manipulation of a magnetic microrobot".Micromachines 7.11(2016):1-14.
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