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首页> 美国卫生研究院文献>Micromachines >Micro-UFO (Untethered Floating Object): A Highly Accurate Microrobot Manipulation Technique
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Micro-UFO (Untethered Floating Object): A Highly Accurate Microrobot Manipulation Technique

机译：微型UFO（不系链的漂浮物体）：一种高精度的微型机器人操纵技术

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摘要

A new microrobot manipulation technique with high precision (nano level) positional accuracy to move in a liquid environment with diamagnetic levitation is presented. Untethered manipulation of microrobots by means of externally applied magnetic forces has been emerging as a promising field of research, particularly due to its potential for medical and biological applications. The purpose of the presented method is to eliminate friction force between the surface of the substrate and microrobot. In an effort to achieve high accuracy motion, required magnetic force for the levitation of the microrobot was determined by finite element method (FEM) simulations in COMSOL (version 5.3, COMSOL Inc., Stockholm, Sweden) and verified by experimental results. According to position of the lifter magnet, the levitation height of the microrobot in the liquid was found analytically, and compared with the experimental results head-to-head. The stable working range of the microrobot is between 30 µm to 330 µm, and it was confirmed in both simulations and experimental results. It can follow the given trajectory with high accuracy (<1 µm error avg.) at varied speeds and levitation heights. Due to the nano-level positioning accuracy, desired locomotion can be achieved in pre-specified trajectories (sinusoidal or circular). During its locomotion, phase difference between lifter magnet and carrier magnet has been observed, and relation with drag force effect has been discussed. Without using strong electromagnets or bulky permanent magnets, our manipulation approach can move the microrobot in three dimensions in a liquid environment.
机译：提出了一种新的微型机器人操纵技术，具有高精度（纳米级）位置精度，可在具有反磁悬浮的液体环境中移动。借助外部施加的磁力对机器人进行无限制的操纵已成为一个有前途的研究领域，特别是由于其在医学和生物领域的潜力。提出的方法的目的是消除衬底表面和微型机器人之间的摩擦力。为了实现高精度运动，通过在COMSOL（5.3版，COMSOL Inc.，斯德哥尔摩，瑞典）中进行的有限元方法（FEM）仿真确定了悬浮微型机器人所需的磁力，并通过实验结果进行了验证。根据提升磁铁的位置，解析地发现了微型机器人在液体中的悬浮高度，并与实验结果进行了正面对比。微型机器人的稳定工作范围在30 µm至330 µm之间，这在仿真和实验结果中都得到了证实。它可以在变化的速度和悬浮高度下以高精度（平均误差<1 µm）跟随给定的轨迹。由于纳米级的定位精度，可以在预定轨迹（正弦曲线或圆形）中实现所需的运动。在其运动过程中，观察到了起重磁体和载体磁体之间的相位差，并讨论了其与阻力作用的关系。在不使用强大的电磁体或笨重的永磁体的情况下，我们的操纵方法可以在液体环境中以三个维度移动微型机器人。

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