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2007
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Measuring the Magnetic and Hydrodynamic Properties of Assembled-MEMS Microrobots

10 years 4 months ago
Measuring the Magnetic and Hydrodynamic Properties of Assembled-MEMS Microrobots
— Microrobots experience physical phenomena that are difficult to model analytically and that are not completely captured with macro-scale prototypes. In this paper we present a reconfigurable robotic measurement system to characterize the magnetic and hydrodynamic properties of assembledMEMS microrobots. The system consists of a powerful permanent magnet that is position controlled with a linear stage. The magnetic field is accurately characterized. Precision sensors are used to measure magnetic force as a function of applied field. The system is first used to validate an existing model for the magnetic force on a soft-magnetic ellipsoid. Next, the magnetic force on a soft-magnetic assembled-MEMS microrobot as a function of the applied field is measured experimentally. Finally, a vision tracking system is integrated with the setup to measure the hydrodynamic properties of the microrobot. The coefficient of viscous friction for the microrobot is obtained experimentally.
Michael P. Kummer, Jake J. Abbott, Karl Vollmers,
Added 03 Jun 2010
Updated 03 Jun 2010
Type Conference
Year 2007
Where ICRA
Authors Michael P. Kummer, Jake J. Abbott, Karl Vollmers, Bradley J. Nelson
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