Abstract
The MiniMag is a magnetic manipulation system capable of 5 degree-of-freedom (5-DOF) wireless magnetic control of an untethered microrobot (3-DOF position, 2-DOF pointing orientation). The system has a spherical workspace with an intended diameter of approximately 10 mm, and is completely unrestrained in the rotational degrees-of-freedom. This is accomplished through the superposition of multiple magnetic fields, and capitalizes on a linear representation of the coupled field contributions of multiple softmagnetic-core electromagnets acting in concert. The prototype system consists of 8 stationary electromagnets with ferromagnetic cores, and is capable of producing magnetic fields in excess of 20 mT and field gradients in excess of 2 T/m at frequencies up 2 kHz.
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CITATION STYLE
Kratochvil, B. E., Kummer, M. P., Erni, S., Borer, R., Frutiger, D. R., Schürle, S., & Nelson, B. J. (2014). MiniMag: A hemispherical electromagnetic system for 5-DOF wireless micromanipulation. In Springer Tracts in Advanced Robotics (Vol. 79, pp. 317–329). Springer Verlag. https://doi.org/10.1007/978-3-642-28572-1_22
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