전자기 구동 유영 마이크로로봇|RISS 상세보기

다국어 초록 (Multilingual Abstract)

The various electromagnetic based actuation(EMA) methods have been proposed for actuating microrobot. The advantage of EMA is that it can provide wireless driving to microrobot. In this reason a lot of researchers have been focusing on the EMA driven microrobot. This paper proposed a swimming microrobot driven by external alternating magnet field which is generated by two pairs of Helmholtz coils. The microrobot has a fish-like shape and consists of a buoyant robot body, a permanent magnet, and a fin. The fin is directly linked to the permanent magnet and the magnet is swung by the alternating magnet field, which makes the propulsion and steering power of the robot. In this paper, firstly, we designed the locomotive mechanism of the microrobot boy EMA. Secondly, we set up the control system. Finally, we demonstrated the swimming robot and evaluated the performance of the microrobot by the experiments.

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목차 (Table of Contents)

Abstract
1. 서론
2. 코일 시스템 제작
3. 유영 마이크로로봇 제작
4. 구동 이론

Abstract
1. 서론
2. 코일 시스템 제작
3. 유영 마이크로로봇 제작
4. 구동 이론
5. 유영 로봇 실험
6. 결론
후기
참고문헌

참고문헌 (Reference)

1 Choi, H., "Two Dimensional Actuation Of Microrobot With Stationary Two-Pair Coils System, Smart Materials and Structures, accepted"

2 Alamgir, A.K.M., "Square Helmholtz Coil with Homogeneous Field for Magnetic Measurement of Longer HTS Tapes" c424 : 17-24, 2005

3 Abbott, J. J., "Robotics in the Small-Part I : Microrobotics" 92-103, 2007

4 Park, S., "Frontier Research Program on Biomedical Microrobot for Intravascular Therapy" 360-365, 2008

5 Hayt, W.H., "Engineering Electromagnetic" McGraw-Hill 279-288, 2006

6 Bar-Cohen Yoseph, "Biomimetics : Biologically Inspired Technologies" CRC 2005

7 Zhang, L., "Artificial Bacterial Flagella : Fabrication and Magnetic Control" 94-96, 2009

8 Guo, S., "A Novel Type of Microbot for Biomedical Application" IROS 1047-1052, 2005