| Micro-robot plays an increasingly important role in biomedical engineering and micro-nano manufacturing,such as targeted drug delivery,microsurgery and micro-nano-operation,and has great potential for development.The flagell ar micro-robot has the advantages of simple structure and good flexibility with respect to the micro-robot with helical structure.However,the current flagellar micro-robot driving a single way,usually only through a single propulsion drive,and thus poo r environmental adaptability.Because of the complex and varied working environment of micro-robot in the fields of biomedical and micro-nano manufacturing,it is very important to study the multi-propelled micro-robot with strong environmental adaptability.In this paper,a multi-propelled flagellated magnetic micro-robot is proposed,which can drive forward in magnetic gradient field,rotating magnetic field and swing magnetic field respectively.The dynamic model of the magnetic micro-robot in the magnetic environment is established respectively.Based on the establishment of the multi-propulsion coil magnetic drive system,the control strategy of the micro-robot is put forward,and the multi-Experimental Research on Micro-robot.Firstly,the structure of a multi-propelled flagellated magnetic micro-robot is proposed.According to the theory of fluid resistance in liquid environment and the magnetic field characteristics,the kinetic model of flagellar magnetic micro-robot in magnetic gradient field,rotating magnetic field and oscillating magnetic field is established respectively.On the basis of this,the effects of flagellar shape dimension,elastic modulus,flagellum tilt angle and other parameters on the speed and energy conversion efficiency of micro-robot were analyzed.And the deformation rule of flagellum driven by different magnetic fields was obtained by simulation.Secondly,according to the characteristics of multi-propelled flagellar magnetic micro-robot,the driving module suitable for such magnetic micro-robot is constructed.Based on the Helmholtz coil drive system,the addition of an effective conversion module enables the conventional Helmholtz coil to produce a gradient magnetic field to meet the multiple propulsion requirements of the magnetic micro-robot.The generation mode of magnetic field is analyzed and compared,and the distribution of magnetic field is obtained by simulating COMSOL software with multi-physics.According to the simulation results,the corresponding control program is programmed to generate the magnetic gradient field,the rotating magnetic field and the swing magnetic field respectively,and the actual situation of the magnetic field is tested by experiment.Finally,the experimental study of multi-propelled flagellated mobile magnetic micro-robot is carried out.Based on the previously established drive system,a multi-propulsion magnetic micro-robot with various parameters was fabricated,and the experimental study of micro-robot under different size parameters was carried out under various magnetic fields.The experimental results show that the micrographs are compared with the theoretical results.The experimental results show that the multi-propelled buoyant magnetic micro-robot is more suitable for moving in liquid with high viscosity,such as glycerol,which is driven by rotating magnetic field or oscillating magnetic field.Under the driving of magnetic gradient field,Viscous relatively low motion in the liquid.In the viscous liquid environment,the multi-propelled flagellated magnetic micro-robot is more adaptable. |
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