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Two-Dimensional Contact and Noncontact Micromanipulation in Liquid Using an Untethered Mobile Magnetic Microrobot | IEEE Journals & Magazine | IEEE Xplore

Two-Dimensional Contact and Noncontact Micromanipulation in Liquid Using an Untethered Mobile Magnetic Microrobot


Abstract:

This paper presents the manipulation of microspheres under water by use of an untethered electromagnetically actuated magnetic microrobot (Mag-\muBot), with dimensions...Show More

Abstract:

This paper presents the manipulation of microspheres under water by use of an untethered electromagnetically actuated magnetic microrobot (Mag-\muBot), with dimensions \hbox{250} \times \hbox{130} \times \hbox{100}\ \mu m^3. Manipulation is achieved by two means: contact and noncontact pushing modes. In contact manipulation, the Mag-\muBot is used to physically push the microspheres. In noncontact manipulation, the fluid flow generated by the translation of the Mag-\muBot is used to push the microspheres. Modeling of the system is performed, taking into account micrometer-scale surface forces and fluid drag effects to determine the motion of a sphere within a robot-generated fluid flow. Fluid drag models for free-stream flow and formulations for near-wall flow are both analyzed and compared with the experiments, in which pushing of two sphere sizes, i.e., \hbox{50} and \hbox{230}\, \mum diameters, is characterized in a controlled, robot-generated flow. Dynamic simulations are provided using the developed physical models to capture this behavior. We find that the near-wall physical models are, in general, in agreement with the experiment, and free-stream models overestimate microsphere motion.
Published in: IEEE Transactions on Robotics ( Volume: 25, Issue: 6, December 2009)
Page(s): 1332 - 1342
Date of Publication: 01 September 2009

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