NDLI: Characteristics of the Microrobot Moving in the Vertical Pipe

Content Provider	IEEE Xplore Digital Library
Author	Shuxiang Guo Qinxue Pan Wei Zhang
Copyright Year	2006
Description	Author affiliation: Fac. of Eng., Kagawa Univ., Takamatsu (Shuxiang Guo)
Abstract	This paper realizes the practical micromachines using fluid power with high power density. It is our purpose to develop motion control system to manipulate a wireless microrobot which can perform in blood vessel by using magnetic field from out of human body. Base on this purpose, a new novel type moving microrobot in pipe has been designed and introduced in this paper. The model microrobot utilizes electromagnetic actuator as the servo actuator to realize moving motion for biomedical application. We discuss the structure, motion mechanism and characteristic evaluation of a driving fin which be in charge of propulsion. The fin moving like fish can be controlled by the frequency adjustment of the alternate magnetic field. The microrobot can be stopped at the place where we want in vertical direction. Experimental results indicate that the microrobot can be controlled upward, downward and also suspend in water by frequency adjustment. The developed microrobot has characteristics of quick response, can correspond to the dirt adhering to the inner wall. To sum up, it will play an important part in industrial application and microsurgery
Starting Page	9282
Ending Page	9286
File Size	270060
Page Count	5
File Format	PDF
ISBN	1424403324
DOI	10.1109/WCICA.2006.1713797
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-06-21
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Magnetic fields Actuators Frequency Motion control Blood vessels Humans Biological system modeling Electromagnetic modeling Servomechanisms Propulsion biotechnology Micromechanism Microrobot magnet in-pipe wireless operation
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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