Abstract:
Micro robotics is a fast-growing field with a wide spectrum of applications which
include biomedical, surveillance, defense, space exploration, geological exploration,
environmental monitoring, and oil seepage cleaning to name a few. These robots are
actuated through wireless power sources such as light, electrostatic, electrophoretic,
dielectrophoretic, and magnetic or they can be chemically self-propelled. Magnetic
actuation is widely used because of its long-range, cost-effectiveness, and
biocompatibility at low frequencies. Magnetic actuators are constructed using Maxwell,
Helmholtz, and cylindrical coils. A Helmholtz coil and Maxwell coil pair can generate
a uniform magnetic field and uniform magnetic gradient along its central axis
respectively. uniform magnetic gradient fields or uniform magnetic fields are used to
actuate and control the movement of microrobots. By using one or more of these types
of coils, 1D, 2D, 3D, or multiple degrees of freedom micro-robotic systems are
developed. Numerous kinds of feedbacks such as visual feedback, ultrasonic feedback,
and hepatic feedback are used for precise motion control.
This dissertation investigates the various parameters that influence the magnetic
field produced by a magnetic actuator, based upon the established theories, and
proposes a technique to fabricate and optimize the actuation system and
electromagnetic actuators. To produce an optimized magnetic field, a highly accurate
and precise planer and collinear arrangement of the coils. 2-DOF magnetic actuator
manipulation system were designed and developed. Moreover, using a 2-DOF magnetic
actuator system, a magnetic micro-robotic manipulation system with visual feedback
was designed and developed. Fe3O4 iceberg like microstructure an d The motion of
Fe3O4 base particles on microrobots is studied using an open-loop control system (with
visual feedback). Microbots show rotating, and linear motion of the micro-robot in ROI
show the capability and movement controllability of the system
