Research On Electromagnetic Actuation Theory Of Microrobot And Implementation Method

As a kind of new medical technology with painless, high treatment efficiency and short returning cycle, medical non-invasive therapy is drawing more and more attention. Generally speaking, medical non-invasive therapy mainly has four application objects as follow:clearing the jam of cardiovascular, destroying local diseased tissue, the diagnosis of disease and accurate drug delivery. To achieve to medical non-invasive therapy successfully, a kind of microrobot of wireless drive and control is where the shoe pinches.External magnetic field, as a kind of common physical field, is painless, no side effects and unacted on the environment, so it is suited to wireless power supply for microrobot. Recently, among these methods of drive and control microrobot with external magnetic field, the structure of microrobot is too complex, so that it is hard to design and machining; microrobot has low drive efficiency and control method is too complex. Therefore, researchers hope to find a new control method to solve these problems.Stick-slip motion, as a new drive method of high drive efficiency, simple control method and low requirement of microrobot structure, was discussed in detail. In this paper, we designed a whole set of drive system for microrobot abased on the theory of stick-slip motion. Firstly, we analyzed the principle of stick-slip motion, and applied Pro/E soft to design the structure of drive platform, which was made up of three pairs of orthometric Helmholtz coils. Then we came up with a program about the load of the coils voltage, that is, control signal generated through the special computer program, and was bubbled into power amplifier for voltage amplification for the purpose of drive the coils. So, we applied Protel soft to design a common power amplifier, and applied LabVIEW soft to write drive programs. After completed these work above, we can operate the microrobot in real-time with a control handle. In addition, thanks to the camera was applied to the system to acquire motion image of the microrobot, the system had the function of visual feedback. At last, a series of experiments demonstrated that microrobot features convenient operate, excellent turning performance and easy control, and we also explored the relation between the frequency, waveform, amplitude ratio and offset of excitation signal and movement speed of the microrobot.