Fu Qiang, Guo Shuxiang, Yamauchi Yasuhiro, Hirata Hideyuki, Ishihara Hidenori
Graduate School of Engineering, Kagawa University, 2217-20, Hayashi-cho, Takamatsu, 761-0396, Japan,
Biomed Microdevices. 2015 Apr;17(2):31. doi: 10.1007/s10544-015-9942-0.
Magnetically actuated microrobots for such tools have potential accomplish procedures in biological and medical applications. In this paper, a novel magnetically actuated hybrid microrobot with hybrid motion driven by an electromagnetic actuation system has been proposed. An o-ring type permanent magnet is embedded in the hybrid microrobot as an actuator driven by rotational magnetic field which is generated by a 3 axes Helmholtz coils. It is composed by two motion mechanisms. One is the spiral jet motion moved by rotating its body. The other one is fin motion moved by vibrating its body. Because only one permanent magnet is used inside the hybrid microrobot, two motions can be controlled separately without any interference. The hybrid microrobot can change its two motions to realize multi-DOFs movement and flexibility motion. The verified experiments are conducted in the pipe. The experimental results indicate that the moving speed can be controlled by adjusting the magnetic field changing frequency and the direction of motion can be controlled by changing the magnetic field direction.
用于此类工具的磁驱动微型机器人在生物和医学应用中具有完成相关程序的潜力。本文提出了一种新型的磁驱动混合微型机器人，其具有由电磁驱动系统驱动的混合运动。一个O形环型永磁体被嵌入到混合微型机器人中，作为由三轴亥姆霍兹线圈产生的旋转磁场驱动的致动器。它由两种运动机制组成。一种是通过旋转其身体而产生的螺旋喷射运动。另一种是通过振动其身体而产生的鳍状运动。由于混合微型机器人内部仅使用了一个永磁体，因此两种运动可以分别控制而不会产生任何干扰。混合微型机器人可以改变其两种运动以实现多自由度运动和灵活运动。在管道中进行了验证实验。实验结果表明，可以通过调整磁场变化频率来控制移动速度，并且可以通过改变磁场方向来控制运动方向。
