다수의 구형 자석으로 이루어진 다관절 마이크로로봇의 외부자기장을 이용한 구동

Abstract

Magnetic microrobots wirelessly actuated by an external magnetic field have been widely investigated for various biomedical purposes. Previous researchers have studied single-body magnetic microrobots composed of a single magnet to generate different mechanical motions considering the mechanically and magnetically simple analysis of the microrobot. However, composition of multiple magnets can facilitate various microrobot shape formation and complex microrobot motions. In this paper, we study the mechanical motion of a multibody magnetic microrobot(MMM) composed of multiple sperical magnets. Since the MMM may have different magnetic equilibrium postures depending on the initial condition and external magnetic field. We calculate the manetic equilibrium posture of the MMM in different formations such as a linear chain array and planar hexagonal array considering the dipole-dipole interactions of the MMM and demonstrate several mechnical motions of the MMM synchronized to external magnetic fields. The results show that the MMM can generate more complex and stable motions compared to those of a single-body microrobot. This research can contribute to the complex manipulation and therapeutic utiliztion of a biomedical microrobot.