University of Twente Student Theses
The Impact of Wall Effects on Motion Control and Velocity of a Microrobot
Zandbergen, Y.M. (2024) The Impact of Wall Effects on Motion Control and Velocity of a Microrobot.
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| Abstract: | Previous research on untethered helical magnetic de- vices (UHMDs) has focused on devices that are a millime- ter in scale or larger. This study investigates the motion of a significantly smaller UHMD (microrobot) and ex- amines the impact of wall effects on motion control and velocity in a low Reynolds number regime. Due to the microrobot’s size, its motion is highly sensitive to factors such as magnetic field strength, rotation frequency, and positioning of the rotating permanent magnet in rela- tion to the microrobot. The motion of the microrobot was investigated under three conditions: in bulk fluid, confined by one surface, and confined by two surfaces. The experimental results indicate that motion control is optimized when the microrobot is confined by two surfaces. However, discrepancies arise when predicting increased velocity with increasing actuation frequency and reduced confinement. The results demonstrate that forward velocity is not influenced by the given condition. Theoretical models were used to confirm the expected velocities, which do confirm the relationship between the condition and velocity, but show a deviation by a factor of approximately 10. The results of this study are signif- icant for the use of microrobots in minimally invasive procedures that require precise motion control. |
| Item Type: | Essay (Bachelor) |
| Faculty: | TNW: Science and Technology |
| Subject: | 02 science and culture in general |
| Programme: | Biomedical Technology BSc (56226) |
| Link to this item: | https://purl.utwente.nl/essays/98482 |
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