Novel Coil Array Design and Modeling for Independent Control of Multiple Magnetic Microrobots

The independent control of microrobot swarms is a major challenge in the field of micro/nano manipulation. In this article, a new localized magnetic field generating system is presented that can be used for the independent control of multiple magnetic microrobots. Such a system will allow for cooperative or parallel microassembly tasks with teams of magnetic microrobots. First, the performance of the novel circular microcoil is modeled by analyzing the effect of input current to study the magnetic field distribution characteristics in the workspace, which is validated by finite-element analysis and simulation; then, an actuation and control strategy of microrobots for microcoil array is proposed. Meanwhile, the independent closed-loop control of the microrobot is realized based on visual feedback; finally, an experimental platform for the microcoil actuation system is built to validate the newly designed structure. The results show that the microrobot can move flexibly and accurately with a tracking error within 0.444 mm. At the same time, the system is capable of independently controlling multiple microrobots and holds great potential in performing micromanipulation tasks.