Permanent Magnetic Micro-robot System Design&Research Based On Magnetic Actuation Technology&MEMS

In recent years, new achievements of MEMS technology have beenmade constantly. This very trend has led the development of micro-robotresearch, which is based on MEMS. The field of micro-robot has nowbecome obviously a hot spot in the present study activities. Generally,micro-robot research and study area can be divided into2branches; they are:micro-(manipulating)-robot and micro-(body-size)-robot. The latterinvolves the structural combination of macro-micro (robot) system, whichmeans it’s capable of making good use of already maturely developedmacro-robot theories and practices, which has a relatively larger body sizecompared with the other branch. So it has been highly commercialized. Forthe former, potential applications include: interventional medical/therapy,examples are: drug delivery to fixed point, lesions diagnosis for internalorgans, blood desilting, etc. In industrial systems, it can be used to performdangerous or micro scale operation job in extreme environment. In themilitary field, it can be used for advanced reconnaissance missions, sneakingtasks and security patrol, etc.However, with the scaling down of micro-robot size, wireless operation(free from cable or untethered operation) becomes a clear trend, which isassociated with tough challenges like system energy supply and motioncontrol; for the cluster micro-robot system, researchers also need to considercommunication channel and the design of individually differentiated controlstrategy. This paper puts forward and illustrates a novel type ofelectromagnetic field control scheme: micro-robot has a regular cubicconfiguration figure by NdFeB, a permanent magnetic material; the robot isfabricated by using advanced technology of MEMS graphical processingbatch production. A three-dimensional space closed by6redesigned Helmholtz coil with rectangular shape and a main platform consist theexternal magnetic field movement driving system. Through the alternatingextrernal magnetic field excitation signal from the coil system, the micro-robot on the two-dimensional plane conducts a special "sliding" movementin a controllable way. This work will greatly promote the research progressof domestic wireless magnetic control micro-robot. Its foreseeableapplication value has been substantial.