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MiniMag: A Hemispherical Electromagnetic System for 5-DOF Wireless Micromanipulation

  • Bradley E. KratochvilEmail author
  • Michael P. Kummer
  • Sandro Erni
  • Ruedi Borer
  • Dominic R. Frutiger
  • Simone Schürle
  • Bradley J. Nelson
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 79)

Abstract

The MiniMag is a magnetic manipulation system capable of 5 degree-of-freedom (5-DOF) wireless magnetic control of an untethered microrobot (3-DOF position, 2-DOF pointing orientation). The system has a spherical workspace with an intended diameter of approximately 10 mm, and is completely unrestrained in the rotational degrees-of-freedom. This is accomplished through the superposition of multiple magnetic fields, and capitalizes on a linear representation of the coupled field contributions of multiple softmagnetic- core electromagnets acting in concert. The prototype system consists of 8 stationary electromagnets with ferromagnetic cores, and is capable of producing magnetic fields in excess of 20 mT and field gradients in excess of 2 T/m at frequencies up 2 kHz.

Keywords

Apply Physic Letter Ferromagnetic Core Gradient Control Large Workspace Maxwell Coil 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag GmbH Berlin Heidelberg 2014

Authors and Affiliations

  • Bradley E. Kratochvil
    • 1
    Email author
  • Michael P. Kummer
    • 1
  • Sandro Erni
    • 1
  • Ruedi Borer
    • 1
  • Dominic R. Frutiger
    • 1
  • Simone Schürle
    • 1
  • Bradley J. Nelson
    • 1
  1. 1.Institute of Robotics and Intelligent SystemsETH ZurichZurichSwitzerland

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