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마이크로 로봇의 3차원 공간 구동을 위한 EMA 시스템
유충선(Chungseon Yu),최현철(Hyunchul Choi),박종오(Jongoh Park),박석호(Sukho Park) 대한기계학회 2009 대한기계학회 춘추학술대회 Vol.2009 No.5
Various types of actuation methods for intravascular microrobot have been proposed. Among the actuation methods, electromagnetic based actuation (EMA) was considered as a promising mechanism. Especially, planar EMA systems for 2 dimensional locomotion of the microrobot were proposed and demonstrated. In this paper, we propose a new EMA system for the 3 dimensional locomotion of the microrobot. The proposed system consists of a coil system and a robotic actuation system. The coil system has a pair of Helmholtz coils and a pair of Maxwell coils, and the robotic actuation system has a serial robot structure with roll-pitch-roll rotational axes. Through various experiments, we can demonstrate 3 dimensional movement of the microrobot by using the proposed EMA system. The proposed EMA system can be utilized for the 3 dimensional actuation of the intravascular microrobot.