Soft Magnetic Microrobots Assembled by Mechanical Microtweezers

This paper presents an micro-assembly system based on microtweezers for fabricating soft magnetic microrobots. The system achieves precise three-dimensional positioning through a three-degree-of-freedom manipulator. The end-effector design incorporates micro-tweezers and a tweezer box. A dedicated transmission mechanism mechanically couples the stepper motor to the microtweezers, enabling reliable manipulations of grasping and releasing. The tweezer box accommodates microtweezers of varying dimensions while ensuring operational stability during assembly processes. To demonstrate the capability of assembly, magnetic particles approximately 800 μ m in diameter were successfully manipulated to assemble quadrupedal soft magnetic microrobots. Experimental results confirm that the system can fabricate magnetic microrobots with superior locomotion performance. This assembly approach offers potential applications in precision manufacturing and biomedical manipulation.