A rolling locomotion method for untethered magnetic microrobots

2010 ◽  
Vol 96 (2) ◽  
pp. 024102 ◽  
Author(s):  
Max T. Hou ◽  
Hui-Mei Shen ◽  
Guan-Lin Jiang ◽  
Chiang-Ni Lu ◽  
I-Jen Hsu ◽  
...  
Keyword(s):  
Magnetic Microrobots ◽  
Rolling Locomotion

Behavior of rotating magnetic microrobots above the step-out frequency with application to control of multi-microrobot systems

2014 ◽  
Vol 104 (14) ◽  
pp. 144101 ◽  
Author(s):  
Arthur W. Mahoney ◽  
Nathan D. Nelson ◽  
Kathrin E. Peyer ◽  
Bradley J. Nelson ◽  
Jake J. Abbott
Keyword(s):  
Magnetic Microrobots

Design and locomotion analysis of the tetrahedral mobile robot with only revolute joints (TMRR)

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Zhirui Wang ◽  
Yezhuo Li ◽  
Bo Su ◽  
Lei Jiang ◽  
Ziming Zhao ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Main Body ◽  
Dynamics Analysis ◽  
Content Type ◽  
Displacement Error ◽  
Working Space ◽  
Revolute Joints ◽  
Physical Prototype ◽  
Moving Direction ◽  
Rolling Locomotion

Purpose The purpose of this paper is to introduce a tetrahedral mobile robot with only revolute joints (TMRR). By using rotation actuators, the mechanism of the robot gains favorable working space and eliminates the engineering difficulties caused by the multilevel extension compared with liner actuators. Furthermore, the rolling locomotion is improved to reduce displacement error based on dynamics analysis. Design/methodology/approach The main body of deforming mechanism with a tetrahedral exterior shape is composed of four vertexes and six RRR chains. The mobile robot can achieve the rolling locomotion and reach any position on the ground by orderly driving the rotation actuators. The global kinematics of the mobile modes are analyzed. Dynamics analysis of the robot falling process is carried out during the rolling locomotion, and the rolling locomotion is improved by reducing the collision impulse along with the moving direction. Findings Based on global kinematics analysis of TMRR, the robot can realize the continuous mobility based on rolling gait planning. The main cause of robot displacement error and the corresponding improvement locomotion are gained through dynamic analysis. The results of the theoretical analysis are verified by experiments on a physical prototype. Originality/value The work introduced in this paper is a novel exploration of applying the mechanism with only revolute joints to the field of tetrahedral rolling robots. It is also an attempt to use the improved rolling locomotion making this kind of mobile robot more practical. Meanwhile, the reasonable engineering structure of the robot provides feasibility for load carrying.

scholarly journals Microrobotics: 3D Fabrication of Fully Iron Magnetic Microrobots (Small 16/2019)

Small ◽  
2019 ◽  
Vol 15 (16) ◽  
pp. 1970086
Author(s):  
Carlos C. J. Alcântara ◽  
Sangwon Kim ◽  
Sunkey Lee ◽  
Bumjin Jang ◽  
Prakash Thakolkaran ◽  
...  
Keyword(s):  
3D Fabrication ◽  
Magnetic Microrobots

scholarly journals IRONSperm: Sperm-templated soft magnetic microrobots

2020 ◽  
Vol 6 (28) ◽  
pp. eaba5855 ◽  
Author(s):  
Veronika Magdanz ◽  
Islam S. M. Khalil ◽  
Juliane Simmchen ◽  
Guilherme P. Furtado ◽  
Sumit Mohanty ◽  
...  
Keyword(s):  
Self Assembly ◽  
Drug Loading ◽  
Chemotherapeutic Agents ◽  
Single Step ◽  
Biological Entity ◽  
Sperm Cells ◽  
Soft Magnetic ◽  
Actuation Frequency ◽  
Magnetic Microrobots

We develop biohybrid magnetic microrobots by electrostatic self-assembly of nonmotile sperm cells and magnetic nanoparticles. Incorporating a biological entity into microrobots entails many functional advantages beyond shape templating, such as the facile uptake of chemotherapeutic agents to achieve targeted drug delivery. We present a single-step electrostatic self-assembly technique to fabricate IRONSperms, soft magnetic microswimmers that emulate the motion of motile sperm cells. Our experiments and theoretical predictions show that the swimming speed of IRONSperms exceeds 0.2 body length/s (6.8 ± 4.1 µm/s) at an actuation frequency of 8 Hz and precision angle of 45°. We demonstrate that the nanoparticle coating increases the acoustic impedance of the sperm cells and enables localization of clusters of IRONSperm using ultrasound feedback. We also confirm the biocompatibility and drug loading ability of these microrobots, and their promise as biocompatible, controllable, and detectable biohybrid tools for in vivo targeted therapy.

MOTION CONTROL OF MAGNETIC MICROROBOTS FOR NANOMEDICINE

2018 ◽  
pp. 189-206
Author(s):  
Tiantian Xu ◽  
Antoine Ferreira ◽  
Hongsoo Choi ◽  
Li Zhang
Keyword(s):  
Motion Control ◽  
Magnetic Microrobots

Optimization-Based Nonimpact Rolling Locomotion of a Variable Geometry Truss

2019 ◽  
Vol 4 (2) ◽  
pp. 747-752 ◽  
Author(s):  
Sumin Park ◽  
Eugene Park ◽  
Mark Yim ◽  
Jongwon Kim ◽  
Tae Won Seo
Keyword(s):  
Variable Geometry ◽  
Rolling Locomotion ◽  
Variable Geometry Truss
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