Research On The Driving Method Of Micro-robot Based On Programmable Magnetic Field

There are many types of driving methods for micro robots,but the use of external magnetic fields to drive micro robots is the mainstream of research.Miniature robots driven by external magnetic fields have broad applications in the medical and industrial fields.Aiming at the external magnetic field driving circuit,this paper proposes an implementation scheme of a programmable magnetic field micro magnetic control robot driving circuit system.The main research contents of this article are as follows:(1)A hardware programmable magnetic field drive circuit system is studied.The hardware drive circuit system microcontroller generates control signal,drive circuit output drive signal.The output control signal is used to control the signal switching on and off in the circuit.The drive circuit controls the coil magnetic field,and then realizes the control of the generation and change of the lattice magnetic field,so as to realize the basic programmable design of the magnetic field.(2)Realized the software module control of driving circuit.Software module control design is to achieve better man-machine interaction to reduce the difficulty of system debugging,design operable interface.The control algorithm can realize the different motion modes of the micro-robot under different control signals,so as to achieve the goal of flexible control of the micro-robot.(3)Designd and manufacture of programmable magnetic field coils and miniature magnetron robots.The coil array structure is designed to generate rotating magnetic field by calculating the coil turns and length.The choice of ndfeb as the core driver to produce micro magnetron robot,in the programmable magnetic field system to achieve the movement of micro robot.The experimental results show that the drive circuit system designed in this paper works stably and can be programmed to generate magnetic field,and the micro magnetron robot can be controlled to achieve basic translation and rolling,which basically meets the requirements of the subject design.The circuit system is small,simple,stable and easy to extend.