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Erschienen in:
2014 | OriginalPaper | Buchkapitel
Towards Functional Mobile Magnetic Microrobots
verfasst von : Wuming Jing, David J. Cappelleri
Erschienen in: Small-Scale Robotics. From Nano-to-Millimeter-Sized Robotic Systems and Applications
Verlag: Springer Berlin Heidelberg
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This chapter covers some fundamental work towards realizing functional mobile magnetic microrobots. First, the theoretical fundamentals of electromagnetism are presented. Second, an electromagnetic testbed design for controlling mobile magnetic microrobots is described. It is utilized to perform benchmarking tests on a simple I-bar shaped magnetic microrobot design. After benchmarking, the critical aspects for micro scale robots and two specific microrobot designs are developed addressing the application needs of biomedical and micro manufacturing tasks. They exhibit tumbling and crawling locomotion mechanisms, respectively. Finally, a magnet microrobot body and vision-based force sensor end-effector combination illustrates an approach for combining different technologies together to create the truly functional mobile magnetic microrobots of the future.