Microrobots for Active Object Manipulation
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Date
2017
Publication Type
Book Chapter
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yes
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Abstract
Active manipulation of objects that are smaller than 1 mm in size finds its application in tasks such as assembly and pick-and-placement. Here, we present the design of a family of microrobots capable of object manipulation in a fluidic environment. The microrobots are fabricated from polymer (SU-8) with internal soft-magnetic posts (CoNi) that align to an external magnetic field and have a maximum dimension of 50×200×600μm
. Actuation of the device can be enforced with either a rotating or stepping magnetic field and corresponds to the method of object manipulation. In particular, a rotating magnetic field enables a fluidic-based noncontact manipulation technique, while a stepping magnetic field enables a contact manipulation technique. The capabilities of these designs are analysed and demonstrated with respect to the generated motion and the manipulation of objects.
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Publication status
published
Book title
Advanced Mechatronics and MEMS Devices II
Journal / series
Volume
Pages / Article No.
61 - 72
Publisher
Springer
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Edition / version
Methods
Software
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Date collected
Date created
Subject
Microrobot; Object manipulation; Magnetic actuation; Rolling actuation; Stepping actuation; Magnetic torque; Fluidic trapping; Fluidic drag; Fabrication; MEMS; Low Reynolds number; Microrobot design; Micromanipulation
Organisational unit
03627 - Nelson, Bradley J. / Nelson, Bradley J.