Micromotor Manipulation Using Ultrasonic Active Traveling Waves

Cao, Hiep Xuan; Jung, Daewon; Lee, Han-Sol; Go, Gwangjoon; Nan, Minghui; Choi, Eunpyo; Kim, Chang‐Sei; Park, Jong-Oh; Kang, Byungjeon

doi:10.3390/mi12020192

Cited by 20 publications

(24 citation statements)

References 30 publications

(43 reference statements)

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“…We attribute this imbalance between the pressure lobes to the undesired phase delays between the transducers. Similar observations have been previously reported with immersible tweezers at high frequency (> 1 MHz) caused by fabrication errors or imprecision in positioning of the transducers [298], [315]. We account for such undesired phase delays in our simulations by providing an additional phase offset (∆φ) to the transducers.…”

Section: Methodssupporting

confidence: 65%

“…Nevertheless, we are able to achieve a trapping region between these lobes with pressure magnitudes of up to 250-300 kPa. In comparison to this value, previously reported waterborne tweezers reach pressure magnitudes in the range 750 kPa-1 MPa [43], [297], [298]. Hence, the close-packed distribution of transducers in SonoTweezer enables us to achieve similar order of pressure magnitudes with a low driving power i.e.…”

Section: Sonotweezer: An Acoustically-powered End-effector For Underw...mentioning

confidence: 71%

“…5.3c). Moreover, as F rad,axial are the weakest, and F rad,lat are the dominant features of a twin trap [298], we use their respective maximum values of both to evaluate various design parameters (R, α, N t ) of our array (Fig. 5.3b).…”

Section: Methodsmentioning

confidence: 99%

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Design, fabrication and actuation of magneto-acoustic microrobots: een deel magnetisch, een ander deel akoestisch, allebei fantastisch

Mohanty

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Bridging the fictional world of "Fantastic Voyage" to modern-day clinical applications, microrobots extend the outreach of minimally-invasive surgeries. Recent micromanipulation strategies have led to a plethora of microrobotic designs that remotely harvest energy from external sources. Such remote actuation empowers microrobots to perform various tasks in hardto-reach environments such as biological vasculatures, microfluidic channels and cell cultures. Besides, these microrobots have the potential to replace large-scale mechanical instruments and make clinical procedures less invasive. However, there are considerable challenges in the synthesis and actuation of microrobots in order to be deployed for the aforementioned applications. Unlike macro-scale robots, microrobots cannot be easily tethered and powered with external peripheral electronics. Hence, microrobots derive energy from indirect physical forces (e.g., magnetism, acoustics, optics) or chemical reactions (e.g., peroxide decomposition, photocatalysis of noble metals, glucose oxidation) in order to move autonomously. The prevalence of existing clinical technologies like magnetic resonance and medical ultrasound imaging complement magnetics and acoustics, respectively, as indirect physical means of contactless manipulation.Among the two means of indirect actuation, magnetic actuation is the most popular approach employed to power microrobots. Inspired from the swimming mechanics of microorganisms (e.g., Escherichia coli, Spermatozoa, Spirulina platensis) countless designs of magnetically-powered microrobots have been reported over the past decade. Despite this popularity, it becomes challenging to design and fabricate different components of microrobots at micro-and nano-scale that move in response to magnetic forces. Moreover, various forms of magnetic actuation require heavy, bulky and power-consuming permanent or electromagnets as hardware. These hardware requirements often impose thermal constraints due to energy dissipation, or electrical bandwidth constraints which may limit speed of the applied actuation. In order to overcome these limitations, acoustic manipulation strategies are investigated as alternative means for contactless actuation of microrobots. Particularly, the versatile nature of acoustic manipulation strategies benefits diverse scenarios that range from i microfluidic-and levitation-based systems, to bubble-powered microrobots. Furthermore, acoustic microrobots can also collaborate with the traditional magnetic actuation and give rise to a hybrid magneto-acoustic micromanipulation strategy. This doctoral thesis describes a mix of magnetically-and acoustically-powered microrobots, and their respective actuation strategies. The chapters presented in this thesis embark the reader on a journey starting with the long-established magnetic microrobots, pass through different pit stops of acoustic microrobotic systems, and finally end where magnetic and acoustic microrobots join forces. This doctoral thesis is divided into four parts and ei...

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Section: Methodssupporting

confidence: 65%

Section: Sonotweezer: An Acoustically-powered End-effector For Underw...mentioning

confidence: 71%

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Design, fabrication and actuation of magneto-acoustic microrobots: een deel magnetisch, een ander deel akoestisch, allebei fantastisch

Mohanty

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“…Parts on a horizontal platform can be moved by various means. For example, this can be performed by using parallel manipulators [ 1 , 2 , 3 , 4 ] by applying piezoelectric or electromagnetic actuated planar micromanipulators [ 5 , 6 , 7 , 8 ], by pushing with robot end-effectors [ 9 , 10 , 11 ], by transporting with devices which move together with the parts to be displaced (e.g., mobile robots) [ 12 , 13 , 14 ], by employing actuator arrays under a flexible surface [ 15 ], by applying acoustic manipulation techniques [ 16 , 17 , 18 , 19 ], etc.…”

Section: Introductionmentioning

confidence: 99%

Nonprehensile Manipulation of Parts on a Horizontal Circularly Oscillating Platform with Dynamic Dry Friction Control

Kilikevičius

Liutkauskienė

Fedaravičius

2021

Sensors

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This paper presents a novel method for nonprehensile manipulation of parts on a circularly oscillating platform when the effective coefficient of dry friction between the part and the platform is being dynamically controlled. Theoretical and experimental analyses have been performed to validate the proposed method and to determine the control parameters that define the characteristics of the part’s motion. A mathematical model of the manipulation process with dynamic dry friction control was developed and solved. The modeling showed that by changing the phase shift between the function for dynamic dry friction control and the function defining the circular motion of the platform, the part can be moved in any direction as the angle of displacement can be controlled in a full range from 0 to 2π. The nature of the trajectory and the mean displacement velocity of the part mainly depend on the width of the rectangular function for dynamic dry friction control. To verify the theoretical findings, an experimental setup was developed, and experiments of manipulation were carried out. The experimental results qualitatively confirmed the theoretical findings. The presented analysis enriches the classical theories of nonprehensile manipulation on oscillating platforms, and the presented findings are relevant for mechatronics, robotics, mechanics, electronics, medical, and other industries.

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“…Another widely known type of asymmetry is a wave asymmetry. This type of asymmetry is induced by traveling waves [34][35][36]. In this case, the object to be transported moves along the direction of the propagation of the travelling wave.…”

Section: Introductionmentioning

confidence: 99%

Vibrational Transportation on a Platform Subjected to Sinusoidal Displacement Cycles Employing Dry Friction Control

Kilikevičius

Fedaravičius

2021

Sensors

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Currently used vibrational transportation methods are usually based on asymmetries of geometric, kinematic, wave, or time types. This paper investigates the vibrational transportation of objects on a platform that is subjected to sinusoidal displacement cycles, employing periodic dynamic dry friction control. This manner of dry friction control creates an asymmetry, which is necessary to move the object. The theoretical investigation on functional capabilities and transportation regimes was carried out using a developed parametric mathematical model, and the control parameters that determine the transportation characteristics such as velocity and direction were defined. To test the functional capabilities of the proposed method, an experimental setup was developed, and experiments were carried out. The results of the presented research indicate that the proposed method ensures smooth control of the transportation velocity in a wide range and allows it to change the direction of motion. Moreover, the proposed method offers other new functional capabilities, such as a capability to move individual objects on the same platform in opposite directions and at different velocities at the same time by imposing different friction control parameters on different regions of the platform or on different objects. In addition, objects can be subjected to translation and rotation at the same time by imposing different friction control parameters on different regions of the platform. The presented research extends the classical theory of vibrational transportation and has a practical value for industries that operate manufacturing systems performing tasks such as handling and transportation, positioning, feeding, sorting, aligning, or assembling.

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Micromotor Manipulation Using Ultrasonic Active Traveling Waves

Cited by 20 publications

References 30 publications

Design, fabrication and actuation of magneto-acoustic microrobots: een deel magnetisch, een ander deel akoestisch, allebei fantastisch

Design, fabrication and actuation of magneto-acoustic microrobots: een deel magnetisch, een ander deel akoestisch, allebei fantastisch

Nonprehensile Manipulation of Parts on a Horizontal Circularly Oscillating Platform with Dynamic Dry Friction Control

Vibrational Transportation on a Platform Subjected to Sinusoidal Displacement Cycles Employing Dry Friction Control

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