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Control of Multiple Ferro-Bots for Steady Motion Using an Array of Electromagnets

Bhat, S and Ananthasuresh, GK (2022) Control of Multiple Ferro-Bots for Steady Motion Using an Array of Electromagnets. In: 5th International and 20th National Conference on Machines and Mechanisms, iNaCoMM 2021, 9 December 2021 - 11 December 2021, Jabalpur, pp. 395-405.

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Official URL: https://doi.org/10.1007/978-981-19-3716-3_31


Magnetic robots have been gaining attention due to their application in biomedical and other fields.Traditional magnetic robots are controlled using various methods, including powerful orthogonal fields with Helmholtz or Maxwell coils, moving permanent magnets, etc.Our work focuses on the control of multiple ferromagnetic objects, henceforth referred to as ferro-bots, using a planar magnetic field that changes spatially and temporally.The motions of the ferro-bots are thus constrained to a 2D plane.The system consists of a grid of solenoids, each standing vertically.The ferro-bots move on an acrylic sheet placed just above the solenoid grid.The ferro-bots are free bodies moving on a plane.When they are close to the solenoid, the magnetic force changes rapidly with distance from the centre of the solenoid.Controlling the ferro-bots in a region with rapidly varying forces, resisted only by nonlinear Coulomb friction, is the focus of this work.Computation of the magnetic force is complicated because of the induced magnetic field in the iron core of the solenoid and the ferro-bot: it leads to a transcendental equation in the magnetic field vector.Consequently, computing the magnetic force is also involved, as opposed to earlier work that used permanent magnets and an array of core-less coils.Therefore, a simplified numerical scheme is developed for computing the magnetic force on the ferro-bot based on coil currents and vice versa.There is another complication as there is a camera-based vision sensor to locate the positions of the ferro-bots.The frame rate of the camera is not sufficient for continuous control techniques.To overcome this, a strategy of pulsed motion, wherein current pulses are applied to get incremental stepped motion, is used.This control scheme is demonstrated by Simscape simulations in which the ferro-bot is moved along the prescribed trajectory.Simultaneous control of multiple ferro-bots is also demonstrated in the simulations.Preliminary experiments are performed to demonstrate the efficacy of the setup and the control algorithm.

Item Type: Conference Paper
Publication: Lecture Notes in Mechanical Engineering
Publisher: Springer Science and Business Media Deutschland GmbH
Additional Information: The copyright for this article belongs to Springer Science and Business Media Deutschland GmbH
Keywords: Botnet; Cameras; Magnetic fields; Permanent magnets; Robots, Ferro-bot; Ferromagnetic object; Helmholtz; Induced magnetic fields; Magnetic force; Magnetic robots; Magnetic-field; Orthogonal fields; Planar magnetics; Steady motion, Solenoids
Department/Centre: Division of Mechanical Sciences > Mechanical Engineering
Date Deposited: 01 Dec 2022 05:24
Last Modified: 01 Dec 2022 05:24
URI: https://eprints.iisc.ac.in/id/eprint/77876

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