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Characterization, modeling and control of magnetic microrobots

Kolk, H. (2013) Characterization, modeling and control of magnetic microrobots.

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Abstract:This work addresses the characterization, modeling and control of magnetic microrobots under the influence of the applied magnetic fields. The aim of this work is to investigate the motion characteristics (boundary frequency and velocity) of three microrobotic structures and control their position and orientation in two dimensions (2D). The microrobots used have rectangular, ellipsoid and diamond shapes with dimensions ranging from 25 � 100 μm to 50 � 500 μm. All microrobots contain a layer of ferromagnetic material (Co80Ni20) for propulsion and steering purposes. Thrust force is generated by magnetic field gradients, whereas torque is generated by the magnetic fields. The magnetic fields are generated by a planar magnetic system which is capable of generating fields of 52.5 mT and field gradients of 1.31 T/m in magnitude.
Item Type:Essay (Bachelor)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:52 mechanical engineering
Programme:Electrical Engineering BSc (56953)
Link to this item:http://purl.utwente.nl/essays/63633
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