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Rembold, Ulrich; Fatikow, Sergej

doi:10.1023/a:1007987316940

Cited by 27 publications

(3 citation statements)

References 2 publications

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“…Microgrippers are small micro/millimeter‐sized robotic devices that can grasp micro‐objects in a narrow and confined environment with accuracy that may not be achieved using manual operations. [ 1 ] Further, the controllability and adaptivity of the untethered designs of this device facilitated them as a promising tool for several applications such as particle manipulation [ 2–4 ] and micro‐assembly. [ 5–7 ] Meanwhile, a strong emphasis has been provided on understanding different aspects of the microgrippers, including the design, [ 8 ] fabrication, [ 9 ] and assembly [ 10 ] that can ease the overall challenges, such as complex structures, amplified stiffness, slow response time, and limited manipulations.…”

Section: Introductionmentioning

confidence: 99%

An Untethered Magnetic Microgripper for High‐Throughput Micromanipulation

Loganathan,

Chaung,

et al. 2024

Adv Materials Technologies

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Microgripper is a small‐miniaturized robotic device employed to maneuver sub‐millimeter‐sized particles or objects that are too small to be manipulated by human hands or conventional tools. The design and fabrication of the microgripper pose challenges due to the integration of actuation components into their structure. To address this challenge, the authors in this work presented a novel magnetic microgripper wherein the functions of the actuation components are executed by the two pairs of microgripper arms made up of magnetic material. A custom‐made electromagnetic system consisting of eight coils is employed to externally control these arms, enabling precise execution of gripping up to a maximum of two microparticles per working cycle. By varying the magnetic field strength from 20 to 120 mT, a wide range of gripper‐arms opening distance is achieved, spanning from 0.3 to 1.3 mm. Consequently, the microgripper is demonstrated to grip different sizes of microparticles ranging from 0.3 to 1.2 mm. As part of the motion control capabilities, the microgripper is demonstrated to orient and navigate across a 360‐degree range within the microfluidic environment. The presented microgripper holds promise for manipulating a wide variety of microparticle sizes and shapes, offering potential for high‐throughput applications

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Section: Introductionmentioning

confidence: 99%

An Untethered Magnetic Microgripper for High‐Throughput Micromanipulation

Loganathan,

Chaung,

et al. 2024

Adv Materials Technologies

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“…As objects scale down in size, viscous forces start to become dominant, and the amount of power required to propel the system will increase [6,7]. For example, [8] describes several microrobots that use various piezoelectric-based actuator assemblies for motion. The authors discuss how their original design required 300 V to actuate the piezoelectric actuators, while a more recent design allowed them to reduce the required input to 60 V. Depending on the size of the microrobot electromagnetic [9,10] and pneumatic micromotors [11] may also be an option for driving wheels, tracks or propellers.…”

Section: Introductionmentioning

confidence: 99%

Motion control of a large gap magnetic suspension system for microrobotic manipulation

Craig¹,

Khamesee²

2007

J. Phys. D: Appl. Phys.

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Magnetic suspension systems have shown a great deal of promise in the field of microrobotics. This paper discusses the performance of a new large gap magnetic suspension system developed by the researchers. The magnetic drive unit consists of six electromagnets attached to a soft iron pole piece and yoke. Levitation of an 11.19 g microrobot prototype is demonstrated for step, ramp and periodic input trajectories using PID control. The working envelope of the microrobot is 30 × 22 × 20 mm3, with an RMS error on the order of 18 µm in the vertical direction and 8 µm in the horizontal direction. It is demonstrated that the levitated microrobot is able to track the desired trajectory precisely and that the system has potential application for micromanipulation.

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“…for robotic systems include direct wiring, batteries and solar power. The main disadvantage of direct wiring is that it limits the operating range of the microrobot, and may also hinder its motion [8]. The most apparent way to overcome this issue is through the use of on-board power storage, i.e.…”

Section: Introductionmentioning

confidence: 99%

Black-box model identification of a magnetically levitated microrobotic system

Craig¹,

Khamesee²

2007

Smart Mater. Struct.

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Magnetically levitated microrobotic systems have shown a great deal of promise for micromanipulation and biomedical applications. This paper discusses the identification of the vertical and horizontal motion models for a large-gap magnetic suspension system developed by the authors. The suspension system consists of six electromagnets attached to a soft iron pole piece, which levitate a small microrobot prototype manufactured from a 10 mm × 10 mm cylindrical neodymium magnet. A modified least squares algorithm is used to identify ARMAX models describing the motion of the system. Due to the unstable nature of open loop vertical position control, the black-box open loop model is extracted from the identified closed loop model by examining the motion of the closed loop poles on a root locus diagram. The identified models are able to reasonably predict the system behaviour.

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Untitled

Cited by 27 publications

References 2 publications

An Untethered Magnetic Microgripper for High‐Throughput Micromanipulation

An Untethered Magnetic Microgripper for High‐Throughput Micromanipulation

Motion control of a large gap magnetic suspension system for microrobotic manipulation

Black-box model identification of a magnetically levitated microrobotic system

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