Dynamic modeling of stick slip motion in an untethered magnetic micro-robot

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Abstract

This work presents the dynamic modeling of an untethered electromagnetically actuated magnetic micro-robot, and compares computer simulations to experimental results. The micro-robot, which is composed of neodymium-iron-boron with dimensions 250 μm × 130 μm × 100 μm, is actuated by a system of 5 macro-scale electromagnets. Periodic magnetic fields are created using two different control methods, which induce stick-slip motion in the micro-robot. The effects of model parameter variations on micro-robot velocity are explored and discussed. Micro-robot stick-slip motion is accurately captured in simulation. Velocity trends of the micro-robot on a silicon surface as a function of magnetic field oscillation frequency and magnetic field strength are also captured. Mismatch between simulation and reality is discussed.

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Pawashe, C., Floyd, S., & Sitti, M. (2009). Dynamic modeling of stick slip motion in an untethered magnetic micro-robot. In Robotics: Science and Systems (Vol. 4, pp. 286–293). MIT Press Journals. https://doi.org/10.7551/mitpress/8344.003.0041

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