Kinematic analysis and path tracking control of a magnetic micro crawling robot

IF 2.5 3区材料科学 Q3 MATERIALS SCIENCE, MULTIDISCIPLINARY

Journal of Magnetism and Magnetic Materials Pub Date : 2025-07-15 DOI:10.1016/j.jmmm.2025.173339

Sanxiu Wang, Zhenhao Dai, Xiaopeng Ni, Qun Lu

引用次数: 0

Abstract

Magnetic micro robots are increasingly utilized in narrow and enclosed environments, where efficient path tracking control is essential for improving the efficiency of tasks such as transportation, assembly, and targeted therapy. In this paper, firstly, a magnetic thin-film robot was designed and its crawling motion mechanism was elaborated, providing a theoretical foundation for path tracking. Secondly, an improved Pure Pursuit path tracking control strategy based on visual feedback is proposed to achieve high-precision path tracking control. Finally, experimental results demonstrate the effectiveness of the proposed path tracking control method and successfully extend the path tracking control from a single robot to the independent control of two robots, providing new insights for the further development and application of magnetic-driven micro-robots in the field of independent control.

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磁性微型爬行机器人的运动学分析与路径跟踪控制

磁性微型机器人越来越多地应用于狭窄和封闭的环境中，在这些环境中，有效的路径跟踪控制对于提高运输、组装和靶向治疗等任务的效率至关重要。本文首先设计了一种磁性薄膜机器人，并对其爬行运动机理进行了阐述，为路径跟踪提供了理论基础。其次，提出了一种改进的基于视觉反馈的Pure Pursuit路径跟踪控制策略，实现了高精度的路径跟踪控制。最后，实验结果验证了所提出的路径跟踪控制方法的有效性，并成功地将路径跟踪控制从单个机器人扩展到两个机器人的独立控制，为磁驱动微型机器人在独立控制领域的进一步发展和应用提供了新的见解。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Journal of Magnetism and Magnetic Materials 物理-材料科学：综合

CiteScore

5.30

自引率

11.10%

发文量

1149

审稿时长

59 days

期刊介绍： The Journal of Magnetism and Magnetic Materials provides an important forum for the disclosure and discussion of original contributions covering the whole spectrum of topics, from basic magnetism to the technology and applications of magnetic materials. The journal encourages greater interaction between the basic and applied sub-disciplines of magnetism with comprehensive review articles, in addition to full-length contributions. In addition, other categories of contributions are welcome, including Critical Focused issues, Current Perspectives and Outreach to the General Public. Main Categories: Full-length articles: Technically original research documents that report results of value to the communities that comprise the journal audience. The link between chemical, structural and microstructural properties on the one hand and magnetic properties on the other hand are encouraged. In addition to general topics covering all areas of magnetism and magnetic materials, the full-length articles also include three sub-sections, focusing on Nanomagnetism, Spintronics and Applications. The sub-section on Nanomagnetism contains articles on magnetic nanoparticles, nanowires, thin films, 2D materials and other nanoscale magnetic materials and their applications. The sub-section on Spintronics contains articles on magnetoresistance, magnetoimpedance, magneto-optical phenomena, Micro-Electro-Mechanical Systems (MEMS), and other topics related to spin current control and magneto-transport phenomena. The sub-section on Applications display papers that focus on applications of magnetic materials. The applications need to show a connection to magnetism. Review articles: Review articles organize, clarify, and summarize existing major works in the areas covered by the Journal and provide comprehensive citations to the full spectrum of relevant literature.