Design And Research Of A Bionic-multiple-cilium And Magnetically-actuated Micro-robot And Its System

Depending on the free and unrestraint locomotion and its own tiny size, micro-robots are able to move in narrow and closed working environments, and carrying on innovatory applications, such as targeting drug delivery, minimally or non invasive diagnosis and therapies in vivo, and collection, transportation, separation and detection of micro simples in vitro, and even the assembly of micro-parts etc. Micro-robots have great potential and vast applications; however, they cannot be actuated by traditional ways. Magnetic actuation and control method provides a feasible, remote power transfer and control method, which also has good controllability and rare harm. Currently, magnetic-forces-driving-based micro-robots(magnetic micro-robots) are arousing more and more attentions.Due to the scaling of physical effects, magnetic micro-robots need special motion design. Classify by the actuation method, current magnetic micro-robot can be classified into two types: the first is the gradient-field-driven-based type and the second is the uniform-field-driven-based type. The former one is directly pulled by magnetic force; the latter one is indirectly actuated by magnetic torque induced by uniform fields, which has good motion performance with proper design. The latter type can be further divided into rotating-field-driving type and alternating-field-driving type. The former one has good motion performance but hard fabrication works, while the latter one is easy to make but with weaker performance. So this paper presents a novel designed magnetic micro-robot which is driven by alternating uniform magnetic field. Mimicking the motion of cilium of eucaryon and depending on the multiple artificial side flagella, the micro-robot can be actuated and move forward. The paper is aimed to develop a magnetic micro-robot with easy realization, low cost and relative good motion performance. The paper also presents the design, construction and optimization works of the associated magnetic control system.This paper is on the designs and researches of a novel uniform-field-driven magnetic micro-robot and its control system. The paper is arranged as follows: the first part presents the research background and significance as well as the research purpose and contents; then, the second part of this paper introduces the theory and relative knowledge of magnetic control, including the scaling of magnetic force, magnetic materials, the nature of magnetic forces and the hardware which is used to generate external magnetic fields etc; and the third part make a analysis on the method how micro-robots can swim effectively in fluidic environment, and presents a comparison of two kind of magnetic micro-robots driven by different methods. Subsequently, a novel micro-robot with multiple artificial cilia is proposed. And the design and fabrication works of the magnetic micro-robot are done. In the fourth part, the design, simulation, and construction works of magnetic control system are presented. And a verification experiment is also proposed in this part. To improve the system, optimization works of driving power and its model are carried out. Lastly, kinematics experiments of the designed magnetic micro-robot are conducted in the fifth part. By analyzing the experimental results, it is proven to be true that the newly designed magnetic micro-robot is able to “swimming” in fluidic environment with a better performance compared to the previous “Magneto-Sperm”. And several factors that influence the moving performance are analyzed.