Swimming micro robot driven by both rotating magnetic field and magnetic gradient, and driving device and method thereof
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A technology of micro-robots and rotating magnetic fields, applied in the direction of micro-manipulators, manipulators, program-controlled manipulators, etc., can solve the problems of single driving mode and single adaptation to the environment, and achieve the effect of flexible driving mode
Active Publication Date: 2016-09-21
HARBIN INST OF TECH
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[0003] The present invention aims to solve the problem of single drive mode and single adaptability to the existing micro-robots, and now provides a swimming micro-robot with dual propulsion of rotating magnetic field and magnetic gradient, and its driving device and method
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specific Embodiment approach 1
[0035] Specific embodiment one: reference figure 1 with figure 2 To describe this embodiment in detail, a swimming micro-robot with dual propulsion of rotating magnetic field and magnetic gradient described in this embodiment, the swimming micro-robot includes: a housing 1, a cylindrical magnet 2 and a compliant flagella 3;
[0036] The shell 1 is a cylindrical structure with a hollow inner cavity. One end of the compliant flagella 3 is fixed at the center of an end surface of the shell 1, and the center axis of the shell 1 coincides with the center axis of the compliant flagella 3.
[0037] The cylindrical magnet 2 is located inside the hollow cavity of the housing 1, and the central axis of the cylindrical magnet 2 and the central axis of the housing 1 are perpendicular to each other,
[0038] The magnetization direction of the cylindrical magnet 2 is the radial direction.
[0039] The swimming micro-robot with dual propulsion of rotating magnetic field and magnetic gradient describ...
specific Embodiment approach 2
[0040] Embodiment 2: This embodiment further explains the swimming micro-robot with dual propulsion of rotating magnetic field and magnetic gradient as described in Embodiment 1. In this embodiment, the material of the cylindrical magnet 2 is neodymium iron boron. The diameter is 3mm and the height is 1.5mm.
specific Embodiment approach 3
[0041] Specific embodiment three: This embodiment is a further description of a swimming micro-robot with dual propulsion of rotating magnetic field and magnetic gradient described in specific embodiment 1. In this embodiment, the housing 1 includes: component one and component two ,
[0042] The first part and the second part are in an axisymmetric structure, the symmetry axis is the central axis of the housing 1, and the first part and the second part can be separated or fastened to each other through a connecting piece.
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Abstract
The invention relates to a swimming micro robot driven by both a rotating magnetic field and a magnetic gradient, and a driving device and a method thereof, which relate to the technical field of micro robots and driving thereof, and aim to solve the problems that an existing micro robot is single in driving mode and single in adaption environment. The swimming micro robot provided by the invention is provided with a cylindrical head part and a soft flagellum tail part; a radially magnetized cylindrical magnet is contained in an inner cavity of the cylindrical head part. The driving device of the swimming micro robot provided by the invention comprises three pairs of orthogonally placed coils; the direction of current led by each pair of coils is controlled through switching connecting modes between each pair of coils, so that a uniform magnetic field or a gradient magnetic field can be produced. The driving method of the swimming micro robot is characterized by utilizing the rotational frequency of the rotating magnetic field and the size of the magnetic field gradient to change the movement speed of the swimming micro robot, and utilizing the rotary axial direction of the rotating magnetic field and the direction of the gradient to change the movement direction of the swimming micro robot. The swimming micro robot driven by both the rotating magnetic field and the magnetic gradient, and the driving device and the method thereof provided by the invention are applicable to the application field of medical treatment, microsystems and other micro robots.
Description
Technical field [0001] The invention belongs to the technical field of micro robots and their driving. Background technique [0002] With the continuous development of micro and nano science and technology, as well as the increasing demand for medical treatment and micro systems, micro robots have received extensive attention and rapid development in recent years. For micro robots, the size is generally between a few microns to a few millimeters, which can work in a relatively small space and complete various tasks that are difficult for macro-robots. At present, various swimming micro-robots proposed at home and abroad have a relatively single driving mode and a relatively single adaptation environment. Summary of the invention [0003] The present invention is to solve the problems of single driving mode of the existing micro-robot and single adaptation to the environment, and provides a swimming micro-robot with dual propulsion of rotating magnetic field and magnetic gradient ...
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