Fabrication And Experimental Study Of Surface Moving Magnetic Microrobots

Magnetic microrobots are small in size and can perform some micro-operations such as drug delivery,micro-scale surgery,micro-system assembly and so on.Magnetic microrobots often need to perform these tasks on various surfaces,such as solid surface and liquid surface.In the process of completing surface tasks,magnetic micro-robots need to be moved and micro-operated.Aiming at the surface movement,a kind of magnetic micro-robot which can roll rapidly on the glass surface under water is designed,and a strategy of controlling the magnetic micro-robot to walk on the glass surface with two feet is proposed.For surface micro-manipulation,a flexible magnetic micro-robot controlled by temperature and magnetic field is designed.The fabrication process of micro-robot based on PEGDA and NIPAAm materials was established,and a quadrangular star-shaped roll magnetic micro-robot was manufactured.On the surface of underwater glass,the magnetic micro-robot can roll under the control of three-dimensional Helmholtz coil.A model of the motion rate of a rolling magnetic micro-robot controlled by a low frequency rotating magnetic field is established and verified by experiments.At lower external magnetic field frequencies,increasing the rotating magnetic field frequencies can improve the motion speed of the micro-robot.At higher frequencies,increasing the rotating magnetic field frequencies will reduce the motion speed of the micro-robot.A method of controlling magnetic micro-robot by using conical swing magnetic field is designed.Under the control of the conical swing magnetic field,the magnetic microrobot will be subjected to three torques.Under the action of these three torques,the magnetic micro-robot can walk alternately with two feet.The motion has the characteristics of high resolution and fast speed.The velocity model of biped walking magnetic micro-robot controlled by low frequency conical magnetic field is established and verified by experiments.Pedestrian magnetic micro-robot is made of PEGDA material.It can walk alternately on glass plane in water.A surface folding magnetic micro-robot with six arms is designed.The magnetic micro-robot is a double-layer structure.One layer is made of PEGDA and the other is made of NIPAAm.PEGDA is a non-thermal response material and NIPAAm is a thermal response material.In theory,the magnetic micro-robot can fully fold the packaged cargo in the environment below 32 degrees,and release the cargo in the environment above 32 degrees.Surface folding magnetic micro-robots contain nano-sized Fe3O4 particles and can also move under the control of magnetic field.