Automatic path tracking and target manipulation of a magnetic microrobot
文献类型：期刊论文
| 作者 | Wang JY(王敬依) ; Jiao ND(焦念东); Tung, Steve; Liu LQ(刘连庆)
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| 刊名 | Micromachines
 |
| 出版日期 | 2016 |
| 卷号 | 7期号:11页码:1-14 |
| 关键词 | magnetic microrobot automatic path tracking expert control magnetic microrobot micromanipulation |
| ISSN号 | 2072-666X |
| 产权排序 | 1 |
| 通讯作者 | 焦念东 ; 刘连庆 |
| 中文摘要 | Recently, wireless controlled microrobots have been studied because of their great development prospects in the biomedical field. Electromagnetic microrobots have the advantages of control agility and good precision, and thus, have received much attention. Most of the control methods for controlling a magnetic microrobot use manual operation. Compared to the manual method, the automatic method will increase the accuracy and stability of locomotion and manipulation of microrobots. In this paper, we propose an electromagnetic manipulation system for automatically controlling the locomotion and manipulation of microrobots. The microrobot can be automatically controlled to track various paths by using visual feedback with an expert control algorithm. A positioning accuracy test determined that the position error ranges from 92 to 293 μm, which is less than the body size (600 μm) of the microrobot. The velocity of the microrobot is nearly proportional to the applied current in the coils, and can reach 5 mm/s. As a micromanipulation tool, the microrobot is used to manipulate microspheres and microgears with the automatic control method. The results verify that the microrobot can drag, place, and drive the microstructures automatically with high precision. The microrobot is expected to be a delicate micromachine that could play its role in microfluidics and blood vessels, where conventional instruments are hard to reach.. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Nanoscience & Nanotechnology ; Instruments & Instrumentation |
| 研究领域[WOS] | Science & Technology - Other Topics ; Instruments & Instrumentation |
| 关键词[WOS] | FLAGELLATED BACTERIA ; MRI ; FABRICATION ; PROPULSION ; ROBOT |
| 收录类别 | SCI ; EI |
| 语种 | 英语 |
| WOS记录号 | WOS:000389131500017 |
| 源URL | [http://ir.sia.cn/handle/173321/19727]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Wang JY,Jiao ND,Tung, Steve,et al. Automatic path tracking and target manipulation of a magnetic microrobot[J]. Micromachines,2016,7(11):1-14. |
| APA | Wang JY,Jiao ND,Tung, Steve,&Liu LQ.(2016).Automatic path tracking and target manipulation of a magnetic microrobot.Micromachines,7(11),1-14. |
| MLA | Wang JY,et al."Automatic path tracking and target manipulation of a magnetic microrobot".Micromachines 7.11(2016):1-14. |
入库方式： OAI收割
来源：沈阳自动化研究所
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