Deformable ferrofluid-based millirobot with high motion accuracy and high output force

被引:29
作者
Chen, Dixiao [1 ]
Yang, Ziping [1 ]
Ji, Yiming [1 ]
Dai, Yuguo [2 ]
Feng, Lin [1 ,3 ]
Arai, Fumihito [2 ]
机构
[1] Beihang Univ, Beijing 100191, Peoples R China
[2] Univ Tokyo, Bunkyo Ku, Tokyo 1138656, Japan
[3] Beijing Adv Innovat Ctr Biomed Engn, Beijing 100083, Peoples R China
基金
国家重点研发计划;
关键词
Robots;
D O I
10.1063/5.0042893
中图分类号
O59 [应用物理学];
学科分类号
摘要
The magnetically actuated robot has valuable potential in biomedicine, bioengineering, and biophysics for its capability to precisely manipulate particles or biological tissues. However, the deformability of rigid robots with predetermined shapes is limited, which constricts their functions and causes inconvenience for robots' movement in constricted space. In this study, we proposed a feasible and efficient ferrofluid-based robot for the transportation of tiny particles and blocks. In addition, a method to generate a patterned magnetic field is also introduced to model a ferrofluid-based robot with an adaptive shape. Benefiting from the paramagnetism and fluidity of the ferrofluid-based robot, it also demonstrates outstanding motion accuracy and output force on a superhydrophobic surface. Because of its excellent motion characteristics, high motion accuracy, and high measured output force, the proposed ferrofluid-based robot has great advantages in the field of microoperation. The correlation coefficient between the motion trajectory of the ferrofluid-based robot and the motion trajectory of the micro-stages is 0.9967. The position error is less than 1.5% of the total stroke.
引用
收藏
页数:6
相关论文
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