A cable-free motion driving method for a permanent magnet microrobot in a coil system

Abstract

Provided is a method for driving permanent magnetic micro robot to do non-cable movement in a coil system. The permanent magnetic micro robot is of a thin film structure which is prepared through an imaging photoetching technology and based on an MEMS micro machining technology. The coil system is of an improved type Helmholtz combined coil structure which is composed of a plurality of coils, and seen from a side face of the combined coil structure, the four side faces and the lower bottom face are respectively surrounded by a rectangular coil. The coil system provides a three-dimensional independent controllable magnetic field in the X direction, Y direction and Z direction so that dynamic modeling of movement of the permanent magnetic micro robot can be achieved, the magnetic field with even intensity and gradient and formed by the permanent magnetic micro robot in a certain range through the coil system acts on the center of mass of the permanent magnetic micro robot, and the dynamics action is produced to drive the permanent magnetic micro robot to do two-dimensional planar movement, namely, vibration and horizontal shifting, in the coil system. The permanent magnetic micro robot is simple to manufacture, even in machining, capable of accurately advancing along planned routes on platforms made of various types of materials, simple in control strategy and high in movement accuracy.

Description

technical field [0001] The invention relates to mechanics, especially micro-electro-mechanical systems in the field of micro-systems, and specifically refers to a control and drive method for a permanent-magnet micro-robot to move without cables on a working platform in a permanent-magnet coil structure. Background technique [0002] Micro-Electro-Mechanical Systems, referred to as MEMS (Micro Electronic Mechanical System), is a frontier research field integrating mechanical systems and electronic engineering, involving electronic engineering, mechanical technology, material science, physical principles and chemical principles, and biomedical engineering and many other disciplines , the research content is cutting-edge and novel, and has extremely wide applications in military, industrial, medical and other fields directly related to human survival, production and health. Many new scientific research directions are even more eye-catching. For example, intelligent military mic...

AI Technical Summary

Problems solved by technology

On the one hand, it is difficult for the electronic system involved in the technical solution to achieve excellent working results in the human body (or other organisms)

On the other hand, the system still adopts the traditional embedded control scheme, which belongs to the macro system category, and it is difficult to meet the needs of miniaturization, and it cannot be deployed normally in some environments with limited physical size.

Therefore, objectively speaking, this technical solution is difficult to realize in practical applications.

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