Design and motion simulation of gradient magnetic navigation microrobot
Aiming at the problems of limited design space and safety risk caused by the power supply and driving device structure of most microrobots,a magnetic navigation microrobot drive control system was designed.Under the action of the gradient magnetic field generated by Maxwell's functional coil,the force principle of the micro permanent magnet is analyzed theoretically,and the magnetic field characteristics that affecting the force state of the micro permanent magnet are obtained;the finite element modeling and magnetic field characteristics simulation of Maxwell functional coil are carried out by using ANSYS Maxwell software,a three-dimensional uniform gradient functional magnetic field is obtained;Finite element modeling and magnetic field characteristic simulation were carried out by using software ANSYS Maxwell,and three-dimensional uniform gradient functional magnetic field was obtained;The force and motion characteristics of the micro permanent magnet were verified by the physical design of the magnetic-controlled micro-robot device and ANSYS Maxwell finite element simulation.The results show that the force state of the micro robot can be changed by controlling the current size and direction of the coil,and the internal micro permanent magnet can be flexibly driven and controlled by the external gradient functional magnetic field.
micro-robotMaxwell coilpermanent magnetthree dimensional gradient magnetic fieldfinite element methodcontrol
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