Diamagnetically levitated Milli-robots for heterogeneous 3D assembly

Hsu, Allen; Chu, William; Cowan, Cregg; McCoy, Brian; Wong-Foy, A.; Pelrine, Ron; Lake, Joseph; Ballard, Joshua B.; Randall, John N.

doi:10.1007/s12213-018-0103-4

Cited by 20 publications

(5 citation statements)

References 60 publications

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“…[88,[264][265][266]. When diamagnetic object is placed in an external field, it can be levitated by repelling the applied magnetic field [267,268]. Actually, superconductors are perfect diamagnetic materials which expel the magnetic flux when cooled below the critical temperature.…”

Section: Magnetic Levitationmentioning

confidence: 99%

Advances in 3D printing of magnetic materials: Fabrication, properties, and their applications

et al. 2022

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Magnetic materials are of increasing importance for many essential applications due to their unique magnetic properties. However, due to the limited fabrication ability, magnetic materials are restricted by simple geometric shapes. Three-dimensional (3D) printing is a highly versatile technique that can be utilized for constructing magnetic materials. The shape flexibility of magnets unleashes opportunities for magnetic composites with reducing post-manufacturing costs, motivating the review on 3D printing of magnetic materials. This paper focuses on recent achievements of magnetic materials using 3D printing technologies, followed by the characterization of their magnetic properties, which are further enhanced by modification. Interestingly, the corresponding properties depend on the intrinsic nature of starting materials, 3D printing processing parameters, and the optimized structural design. More emphasis is placed on the functional applications of 3D-printed magnetic materials in different fields. Lastly, the current challenges and future opportunities are also addressed.

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Section: Magnetic Levitationmentioning

confidence: 99%

Advances in 3D printing of magnetic materials: Fabrication, properties, and their applications

et al. 2022

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“…This has led to an increased demand for miniaturized and flexible multiaxial micromanipulation technologies. Research into flexible and self-reconfigurable robotic factories has also been performed, [1,2] including the development of swarm miniature robotics. [3] Numerous holonomic mobile robots have been subject to study.…”

Section: Introductionmentioning

confidence: 99%

“…Therefore, precise mobile micromanipulators have also been studied. [1,[38][39][40][41][42] Such robots should be developed to combine the DOI: 10.1002/aisy.202300517 Holonomic mobile micromanipulators driven by piezoelectric actuators offer precision and compact design. However, attaining both high speed and positioning repeatability with sufficient load capacity poses challenges, given that lightweight robots are susceptible to nonuniform driving surfaces and external forces.…”

Section: Introductionmentioning

confidence: 99%

“…Therefore, precise mobile micromanipulators have also been studied. [ 1,38–42 ] Such robots should be developed to combine the performances of conventional XYθ ‐axis precision stages using ball screws with a maximum speed of around 10 mm s −1 with a repeatability of 0.5 μm, [ 43–45 ] and precise piezoelectric stages with a resolution of 1 nm within the range of around 0.2 mm. [ 46–50 ] Among these, some nonholonomic mobile robots incorporating piezoelectric elements [ 51–54 ] exhibit remarkable performance, including high speed and excellent mobility across challenging terrain.…”

Section: Introductionmentioning

confidence: 99%

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Automatic Holonomic Mobile Micromanipulator for Submillimeter Objects Inspired by the Rhinoceros Beetle

Suzuki,

Iida,

Tsukui

et al. 2024

Advanced Intelligent Systems

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Holonomic mobile micromanipulators driven by piezoelectric actuators offer precision and compact design. However, attaining both high speed and positioning repeatability with sufficient load capacity poses challenges, given that lightweight robots are susceptible to nonuniform driving surfaces and external forces. A holonomic beetle (HB) is proposed to realize a wide range, compact size, precise holonomic motion, automatic micromanipulation, and high‐speed movement simultaneously. Inspired by the biological makeup of a Rhinoceros Beetle, a length, weight, and load capacity of 8 cm, 74 g, and of 2000 g, respectively, are used. The HB is a two‐legged robot with a pseudoalternating tripod gait locomotion principle, with five piezoelectric actuators for XYθ displacement and switching of the contact leg. It achieves maximum walking velocities of 11.6 mm s−1 for translational motion and 19.3 deg s−1 for rotation, with a displacement resolution of 12 nm. Notably, under open‐loop control, the HB demonstrates high repeatability with a coefficient of variation of 0.3%. It exhibits the capability to climb 30°‐inclined surfaces, traverse flat surfaces with 0.1 mm bumps, and navigate 30 mm pits. Furthermore, the HB showcases practical automatic micromanipulation through visual servo control and machine learning, presenting potential applications in biomedical and microassembly fields.

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“…Miniaturized magnetic functional devices (actuators and robots) being of a range of benefits, such as non-contact interactions and fast, reversible actuations, can be widely used in biosensing, micromanipulation, and targeted drug delivery [1][2][3][4][5]. Conventional manufacturing techniques such as photolithography [6][7][8], electrodeposition [9,10], and template self-assembly [11][12][13] are pretty common to be used for fabricating 2D and quasi-3D magnetic devices. However, these processes are difficult to manufacture a miniaturized magnetic functional device with complex 3D spatial structures (i.e.…”

Section: Introductionmentioning

confidence: 99%

3D printing of high-precision and ferromagnetic functional devices

Huang

Shao

Zhou

et al. 2023

Int. J. Extrem. Manuf.

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The development of projection-based stereolithography additive manufacturing techniques and magnetic photosensitive resins has provided a powerful approach to fabricate miniaturized magnetic functional devices with complex three-dimensional spatial structures. However, the present magnetic photosensitive resins face great challenges in the trade-off between high ferromagnetism and excellent printing quality. To address these challenges, we develop a novel NdFeB-Fe3O4 magnetic photosensitive resin comprising 20 wt.% solid loading of magnetic particles, which can be used to fabricate high-precision and ferromagnetic functional devices via micro-continuous liquid interface production (μCLIP) process. This resin combining ferromagnetic NdFeB microparticles and strongly absorbing Fe3O4 nanoparticles is able to provide ferromagnetic capabilities and excellent printing quality simultaneously compared to both existing soft and hard magnetic photosensitive resins. The established penetration depth model reveals the effect of particle size, solid loading, and absorbance on the curing characteristics of magnetic photosensitive resin. A high-precision forming and ferromagnetic capability of the NdFeB-Fe3O4 magnetic photosensitive resin are comprehensively demonstrated. It is found that the photosensitive resin (NdFeB: Fe3O4=1:1) can print samples with sub-40 μm fine features, reduced by 87% compared to existing hard magnetic photosensitive resin, and exhibits significantly enhanced coercivity and remanence in comparison with existing soft magnetic photosensitive resins, showing by an increase of 24 times and 6 times, respectively. The reported NdFeB-Fe3O4 magnetic photosensitive resin is anticipated to provide a new functional material for the design and manufacture of next-generation micro-robotics, electromagnetic sensor, and magneto-thermal devices.

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Diamagnetically levitated Milli-robots for heterogeneous 3D assembly

Cited by 20 publications

References 60 publications

Advances in 3D printing of magnetic materials: Fabrication, properties, and their applications

Advances in 3D printing of magnetic materials: Fabrication, properties, and their applications

Automatic Holonomic Mobile Micromanipulator for Submillimeter Objects Inspired by the Rhinoceros Beetle

3D printing of high-precision and ferromagnetic functional devices

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