A conical helical microrobot was designed to simulate the execution of complex operations such as targeted drug deliv-ery and vascularization in living organisms.The structure of the conical helical microrobot consists of a cylindrical head,a conical helical tail,and a NdFeB permanent magnet.In order to meet the three-dimensional motion control requirements of the conical helical microrobots in low Reynolds number liquid,a universal rotating magnetic field generator was designed based on the princi-ple of superposition of space vectors,and the magnetic field strength and uniformity of the universal rotating magnetic field genera-tor were optimized by the finite element analysis method.A conical helical microrobot was fabricated and a magnetic drive system was constructed to perform the conical helical microrobot three-dimensional motion control experiments.The experimental results show that the maximum swimming velocity is 1 mm/s for conical helical microrobot in glycerol,which is able to realize stable two-dimensional and three-dimensional motion control as well as complete the complex operation of traversing the maze.
关键词
微机器人/螺旋/万向旋转磁场/运动控制
Key words
microrobot/helical structure/universal rotating magnetic field/motion control
维普
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