Motion Control of Magnetic Microrobot Using Uniform Magnetic Field

Qi Zhang; Shuang Song; Ping He; Heng Li; Hao-Yang Mi; Wei Wei; Zuxin Li; Xingzhong Xiong; Yangmin Li

doi:10.1109/ACCESS.2020.2986089

IEEE Access (Jan 2020)

Motion Control of Magnetic Microrobot Using Uniform Magnetic Field

Qi Zhang,
Shuang Song,
Ping He,
Heng Li,
Hao-Yang Mi,
Wei Wei,
Zuxin Li,
Xingzhong Xiong,
Yangmin Li

Affiliations

Qi Zhang: ORCiD; Guangxi Key Laboratory of Automatic Detecting Technology and Instruments, Guilin University of Electronic Technology, Guilin, China
Shuang Song: ORCiD; Department of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, China
Ping He: ORCiD; School of Intelligent Systems Science and Engineering (Institute of Physical Internet), Jinan University, Zhuhai, China
Heng Li: ORCiD; Department of Building and Real Estate, The Hong Kong Polytechnic University, Hong Kong
Hao-Yang Mi: ORCiD; National Engineering Research Center for Advanced Polymer Processing Technology, Zhengzhou University, Zhengzhou, China
Wei Wei: ORCiD; School of Computer Science and Engineering, Xi’an University of Technology, Xi’an, China
Zuxin Li: ORCiD; School of Engineering, Huzhou University, Huzhou, China
Xingzhong Xiong: ORCiD; Artificial Intelligence Key Laboratory of Sichuan Province, Sichuan University of Science and Engineering, Zigong, China
Yangmin Li: ORCiD; Department of Industrial and Systems Engineering, The Hong Kong Polytechnic University, Hong Kong

DOI: https://doi.org/10.1109/ACCESS.2020.2986089
Journal volume & issue: Vol. 8
pp. 71083 – 71092

Abstract

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A microrobot with untethered control in 3D space is a good choice to be applied in the fields of biomedicine with in small and confined workspace. In this paper, an electromagnetic actuation system (EMA) which combined with Helmholtz coil and Maxwell coil for the microrobot 5 DOF locomotion in 3D space is built. The magnetic field analysis of the proposed 3D EMA system was analyzed by finite-element-method (FEM) with multi-physics COMSOL software. The proposed EMA system can produce magnetic field with different characteristics such as a controllable uniform gradient magnetic field, a rotating magnetic field and a oscillating magnetic field in a three-dimensional space by independently changing the current in each coil. In this paper the 3D motion dynamic equation model of microrobot was established. A novel control method for the gravity compensation for the wireless locomotive microrobot was proposed. The proposed method has the property that the direction of magnetic flux and the locomotion path of the microrobot are independent. Meanwhile, it can achieve the horizontal motions or nearly horizontal motions and overcome the gravity well at the same time. It has been verified by experiments in 3D liquid environment. With the proposed method, the microrobot shows good performance in horizontal motions as well as various motions in the 3D space.

Published in IEEE Access

ISSN: 2169-3536 (Online)
Publisher: IEEE
Country of publisher: United States
LCC subjects: Technology: Electrical engineering. Electronics. Nuclear engineering
Website: https://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=6287639

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