Electromagnetic Actuation for a Micro/Nano Robot in a Three-Dimensional Environment
Author's Department
Robotics, Control & Smart Systems Program
Second Author's Department
Robotics, Control & Smart Systems Program
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https://doi.org/10.3390/mi13112028
Document Type
Research Article
Publication Title
Micromachines
Publication Date
11-19-2022
doi
10.3390/mi13112028
Abstract
Micro/nanorobots have several potential biomedical applications, such as drug delivery, minimal invasiveness, and moving within narrow and complex areas. To achieve these desirable applications, precise path tracking and controlling magnetic micro/nanorobots within blood vessels is a crucial but challenging point. In this paper, a three-dimensional electromagnetic actuation system composed of three pairs of Helmholtz coils and three pairs of Maxwell coils is proposed. A closed-loop control algorithm is proposed to enhance trajectory tracking of a micro/nanorobot. Different simulation experiments were carried out using Simulink to verify the performance of the proposed algorithm. Different trajectories were tested in tracking two-dimensional and three-dimensional reference trajectories. The results showed that by using the developed algorithm and electromagnetic actuation system, a micro/nanorobot can follow the desired trajectory within a maximum error of 13 μm.
First Page
1
Last Page
14
Recommended Citation
APA Citation
Abdelaziz, M.
&
Habib, M.
(2022). Electromagnetic Actuation for a Micro/Nano Robot in a Three-Dimensional Environment. Micromachines, 13(11), 1–14.
10.3390/mi13112028
https://fount.aucegypt.edu/faculty_journal_articles/4673
MLA Citation
Abdelaziz, Mostafa, et al.
"Electromagnetic Actuation for a Micro/Nano Robot in a Three-Dimensional Environment." Micromachines, vol. 13,no. 11, 2022, pp. 1–14.
https://fount.aucegypt.edu/faculty_journal_articles/4673