Planar motion control of a microrobot by using electromagnetic actuator

This study proposes a new contactless actuation method for planar motion of a microrobot, which uses an electromagnetic actuator system consists of pole pairs which can make uniaxial systematic movement. Magnetic field on the work space, is obtained by controlling the position and current of the electromagnetic poles. The strength and direction of magnetic flux density on the work space is controlled by generated magnetic field. Eventually, the magnetic flux density on work space determines the strength and direction of the magnetic torque and force. Also, the work space can be enhanced by the motion of the electromagnetic poles. This feature of the designed actuator system is to move microrobot move on larger work space. Firstly, electromagnetic actuator system was designed which provides the necessary kinetic energy to move on the ROI for microrobot. All structural and functional design parameters were determined by systematic design method which was developed by using electromagnetic theory and numerical analysis methods. Secondly, the systematic movement of the electromagnetic poles was configured to extend the work area. Finally, the microrobot 2D movement, that is generated by electromagnetic actuator system, was examined on the experiments setup and the improvement works were carried out.