A self-positioning and rolling magnetic microrobot on arbitrary thin surfaces

Abstract

We propose a novel self-positioning and rolling magnetic microrobot (SPRMM) actuated by a magnetic navigation system. The proposed microrobot can effectively anchor or move on an arbitrary three-dimensional thin surface by overcoming external forces. Furthermore, we derive a no-slip rolling constraint equation for the SPRMM. We also examine the equilibrium characteristics of the SPRMM by utilizing the point-dipole model. Experiments demonstrating the locomotion abilities of the SPRMM in complex working environments are then conducted to verify the proposed SPRMM.