Attachment, detachment, and navigation of small robots using local magnetic fields

Chakravarthula, PN and Shekhar, S and Ananthasuresh, GK (2019) Attachment, detachment, and navigation of small robots using local magnetic fields. In: 4th International Conference on Manipulation, Automation, and Robotics at Small Scales, MARSS 2019, 1 - 5 July 2019, Helsinki.

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Abstract

We present a procedure for attaching, detaching, and navigating two independently controlled small objects using localized magnetic fields. The objects, which may be considered as robots for all practical purposes, are endowed with ferromagnetic inserts and compliant segments. These inserts give rise to forces due to the local magnetic fields generated by an array of planar coil electromagnets. Compliant segments felicitate snap attachment and detachment, both of which are due to the forces applied on the objects and their dynamic behavior. We demonstrate the stated functionality by describing design, fabrication, and testing at the cm size. As a proof-of concept, we also present SU-8 microrobots that are independently controlled using localized magnetic fields realized at the micro scale. © 2019 IEEE.

Item Type:	Conference Paper
Publication:	Proceedings of MARSS 2019: 4th International Conference on Manipulation, Automation, and Robotics at Small Scales
Publisher:	Institute of Electrical and Electronics Engineers Inc.
Additional Information:	The copyright for this article belongs to Institute of Electrical and Electronics Engineers Inc.
Keywords:	Magnetic fields; Robotics, Attachment and detachments; Dynamic behaviors; Ferromagnetic insert; Local magnetic field; Microrobots; Proof of concept; Small objects; Small robots, Robots
Department/Centre:	Division of Mechanical Sciences > Mechanical Engineering
Date Deposited:	19 Dec 2022 06:39
Last Modified:	19 Dec 2022 06:39
URI:	https://eprints.iisc.ac.in/id/eprint/78493

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