Magnetically Actuated Millirobots

Preface: Magnetic millirobots can be controlled remotely by external magnetic fields, making them promising candidates for biomedical and engineering applications. This paper presents a low-cost millirobot that is simple in design, easy to fabricate, highly scalable, and can be used as modular sub-units within complex structures for large-scale manipulation. The rectangularshaped millirobot was fabricated by 3D printing, using Polylactic acid (PLA) filaments, and by embedding cylindrical permanent magnets in each of its two ends. Individual robots are highly agile and capable of performing a variety of locomotive tasks such as pivot walking, tapping, and tumbling. A comparative study is presented to demonstrate the advantages and disadvantages of each locomotion mode. However, among these modes of locomotion, pivot walking at millimeter length scale is demonstrated for the first time in this paper, and our experimental data shows that this is the fastest and the most stable. Further, we demonstrate that the millirobot could be propelled through an esophagus-like bended tube and a maze-like path with combined motion modes. Later, to extend the functionality of our millirobots, we presented and manipulated two systems: a stag beetle and a carbot. Using a powerful electromagnetic coil system, we conducted extensive experiments to establish feasibility and practical utility of the magnetically actuated millirobot.

This work has been done by: Ehab Al Khatib, Anuruddha Bhattacharjee, Pouria Razzaghi, Louis William Rogowski, Min Jun Kim, and Yildirim Hurmuzlu.

Labs: Systems lab and BAST lab.

Motion mode: Pivot walking
Motion mode: Tumbling

 

Motion mode: Corner Maneuvering
Motion mode: Tapping

 

 

Magnetically Actuated Millirobots: Carbot
Magnetically Actuated Millirobots: Combined modes

 

 

Magnetically Actuated Millirobots: Pivot Walking
Magnetically Actuated Millirobots: Beetle Robot

 

 

 

 

 

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