Research On Cluster Modes Simulation Of Magnetic Micro/Nano Robots

With the development of micro-nano robotics,magnetic micro-nano robots have been widely concerned by researchers due to their strong controllability and flexible behavior.In the fields of micro-nano manipulation and targeted delivery,magnetic micro-nano robots also have great research prospects.For micro-nano robots,the traditional researches have focused on the design and manufacture of them,manipulation of them based on magnetic field,and exploration of their corresponding functions.In recent years,the control of magnetic micro-nano robot swarm based on dynamic magnetic fields has also received extensive attention.For the problems of the existing research,such as a single cluster model and internal chaos within the group,this paper aims to realize the generation,translation and functionalization of multiple cluster modes of magnetic micro-nano robots through corresponding numerical simulation research.The main research content of this paper are as follows:A single magnetic micro-nano robot is taken as the research object to establish the motion model.In this paper,in order to drive the robot in fluid environment,the threedimensional magnetic field is selected as the external driving system of the magnetic micronano robot.Also,the working principle analyzing and mathematical modeling is carried out.Three rotating magnetic fields are designed for generating multiple cluster modes.In addition,the multi-physics simulation software COMSOL is used to perform the corresponding numerical simulation,which explored the motion of the magnetic micronano robot in the multi-physics coupling environment composed of magnetic field and flow field.The simulation results show that the single magnetic micro-nano robot has three rotational motion states: "rolling","spinning",and "tumbling".Based on the three rotating magnetic fields designed previously,the cluster mode of the magnetic micro-nano robot swarm is studied.A pair of magnetic micro-nano robots and multiple magnetic micro-nano robots with interaction are selected for cluster mode analysis.The force analysis of the robot swarm in the coupling environment of magnetic field and flow field are carried out.And,the dynamic model are established.Then,by changing the magnetic field conditions in the COMSOL simulation environment,three stable cluster modes of magnetic micro-nano robot swarms under different magnetic fields are obtained: chain,vortex and ribbon.The translation movement and functional application of three types of swarm are studied.The analysis of the translation movement mechanism of different groups is given.The translational movement of the ribbon-like swarm under the "square" path and the translational movement of the vortex-like swarm under the "circular" path are realized through numerical simulation.The functional assumptions of the three kinds of swarms are proposed and the theoretical analysis is given,such as the vortex-like swarm wraping and transporting the simulated goods,the ribbon-like swarm pushing or attracting multiple simulated goods,and the chain-like swarm passing through a narrow passage.The functional assumption of the chain-like swarm passing through the narrow channel is verified by simulation.For the aforementioned three clustering modes,the translational movement and functional application of different groups are studied.The mechanism of translation movement of different groups is explained through theoretical analysis.Then,the corresponding numerical simulation is carried out on the COMSOL platform.The simulation results show that the ribbon-like swarm has achieved a translational movement under the "square" path and can be used to push or attract multiple simulated goods;The vortex-like swarm realizes the translational movement under the "circular" path and can be used to wrap and transport simulated goods;The chain-like swarm realizes the function of passing through the narrow channel.