A sphericon-shaped magnetic millirobot rolling on a surface actuated by an external wobbling magnetic field

Abstract

This paper proposes a novel sphericon-shaped magnetic millirobot (SSMM) that can roll on a variety of surfaces. The SSMM comprises four identical half cones with a cylindrical magnet inserted into the geometric center. It can roll forward or backward on a surface with repeated rolling cone motions (wobbling motions). Since a rolling SSMM develops its entire surface by means of line contact, a relatively large maximum static friction force can make the SSMM move on a surface steadily and effectively. In this work, a new type of external wobbling magnetic field (EWMF) was also derived to manipulate the SSMM’s rolling motions precisely. Then, the controlled rolling motions of prototype SSMMs under various surface conditions were demonstrated to examine the rolling ability of the proposed SSMM.

Magnetic field concentration using ferromagnetic material to propel a wireless power transfer based micro-robot

“…[8][9][10][11][12][13][14][15][16][17][18] A magnetic field is more practical for propelling a micro-robot since it is not consumed. In addition, the use of a permanent magnet and external magnetic field allows sophisticated control over the positioning of the robot.…”

“…In addition, the use of a permanent magnet and external magnetic field allows sophisticated control over the positioning of the robot. [11][12][13][14][15] For example, when the external magnetic field is rotated, a micro-robot which has a magnet fixed inside also rotates synchronously with the external magnetic field. If the external shape of the micro-robot is helical or a screw-like structure, the rotating microrobot will move forward or backward.…”

Dry Surface Micromanipulation Using An Untethered And Magnetic Microrobot

“…Dry surface micromanipulation methods in the literature either have coarse stride step sizes (at least a body-length) [14], [15], and [16] that are imprecise or are uncontrolled during some portion of their stride cycle [13]. In addition, a pushing force cannot be applied using these for direct micromanipulation.…”