2D-Compliant, Diamagnetic Levitating Micro-Robots for Operation on Non-Flat, Non-Clean Tracks

We demonstrate techniques for fabricating 2D-compliant, magnetic micro-robots able to diamagnetically levitate and controllably maneuver over a non-flat and non-clean surfaces. These capabilities were first demonstrated in simulation–identifying passively-stable configurations of magnetic dipole arrays linked by compliant flexures, computing levitation force versus height, and exploring the design space of robot compliance and track curvature versus levitation height. A viable compliant micro-robot design was then fabricated and operated on curved graphite surfaces that are not traversable by rigid micro-robots. Separately, a non-compliant micro-robot was used to demonstrate partial abrasive particle clearing on a dirty track and then subsequent operation for >50,000 cycles / >600 m with no signs of wear. These advancements in diamagnetic micro-robot capabilities will enable applications of the technology in a broader range of environments (including beyond Earth) and size-scales (to support larger payloads).