@inproceedings{d9fc22d4a0564937bdfb5855b217f0b3,
title = "Magnetically Driven Rolling Motion for Magnetic Cylindrical Microrobots",
abstract = "In this paper, a cylindrical microrobot based on noncontact manipulation for controllable motion is reported. In the system, the diameter and length of the microrobot are 200 μm and 400 μm respectively. The rotating magnetic field generated by an electromagnetic actuator consisting of five electromagnets to control the rolling motion of microrobot in two-dimensional. The proposed microrobot can move along a planned trajectory in the fluids, which proves its efficiency of advanced functionality. Some key parameters including aspect ratio and magnetic field affect the rolling velocity. By adjusting the frequency of sinusoidal current and aspect ratio of cylinder, the forward velocity can be controlled accurately and up to maximum value of 7.64 mm/s. The experimental results show that the cylindrical microrobot can roll along different shaped trajectories accurately, which demonstrates the capability and flexibility of controlling method. This proposed method has a potential for transport of micro objects in a confined environment.",
keywords = "Microrobot, controllable two-dimensional motion, magnetic field, micromanipulation",
author = "Hongzhe Liao and Xiaoming Liu and Dan Liu and Yu Ning and Qiang Huang and Tatsuo Arai",
note = "Publisher Copyright: {\textcopyright} 2021 IEEE.; 18th IEEE International Conference on Mechatronics and Automation, ICMA 2021 ; Conference date: 08-08-2021 Through 11-08-2021",
year = "2021",
month = aug,
day = "8",
doi = "10.1109/ICMA52036.2021.9512673",
language = "English",
series = "2021 IEEE International Conference on Mechatronics and Automation, ICMA 2021",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "976--980",
booktitle = "2021 IEEE International Conference on Mechatronics and Automation, ICMA 2021",
address = "United States",
}