逐步控制多个磁性微型机器人以实现流体操纵应用

IF 6.8 Q1 AUTOMATION & CONTROL SYSTEMS
Dineshkumar Loganathan, Chia-Ling Hsieh, Chen-Yi Ou, Chia-Yuan Chen
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引用次数: 0

摘要

小型磁性机器人被广泛认为是有前途的无系装置,可通过外部控制实现众多微型应用。本研究旨在利用电磁线圈阵列解决多个磁性微型机器人的独立控制问题。在这里,每个制造的磁性微型机器人都被不同的磁化曲线磁化。此外,除了向每个电磁线圈提供受控电流外,还使用上述磁化策略对这些微型机器人进行独立控制。为了探索这种组合分步法控制微型机器人的物理原理,我们进行了理论和数值研究,以进一步确保其在广泛应用中的实际意义。为了进行演示,我们使用一个以上具有不同运动的微型机器人进行了三种不同的剪切诱导流操纵实验,包括颗粒操纵任务、流体颜色转换任务和微混合任务。在微混合任务中,最多使用了三个具有不同运动控制的微型机器人,并观察到其在 45 秒内实现了近 80% 的混合效率。本文介绍的执行系统和运动控制策略可以加强现有的小型机器人在各种应用中的应用,特别是在需要多个微型机器人的任务中。
本文章由计算机程序翻译,如有差异,请以英文原文为准。

A Stepwise Control of Multiple Magnetic Millirobots for Flow Manipulation Applications

A Stepwise Control of Multiple Magnetic Millirobots for Flow Manipulation Applications

Small-scale magnetic robots are extensively recognized as promising untethered devices that can be controlled externally for numerous microscale applications. This study is proposed to address the independent control of multiple magnetic millirobots using an array of electromagnetic coils. Herein, each of the fabricated magnetic millirobots is magnetized with a dissimilar magnetization profile. Further, these millirobots are independently controlled using the mentioned magnetization strategy in addition to the supply of controlled current to each electromagnetic coil. To explore the physics of this combined stepwise approach in controlling the millirobots, theoretical and numerical investigations are carried out that further ensure the practical significance for broad applications. For demonstration purposes, three different shear-induced flow manipulation experiments, including the particle manipulation task, fluid color transition task, and micromixing task, are conducted using more than one millirobot with distinct motions. A maximum of three millirobots controlled with different motions are employed in the micromixing task, and further, it is observed to achieve nearly 80% mixing efficiency within 45 s. The presented work with the introduced actuation system and motion control strategies can strengthen the existing methods of small-scale robots for various applications, particularly for tasks that demand multiple millirobots.

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CiteScore
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