Trapping and 3-D Manipulation of Magnetic Microparticles Using Parametric Excitation
- Resource Type
- Periodical
- Authors
- Punyabrahma, P.; Jayanth, G.R.; Mohanty, A.K.
- Source
- IEEE Robotics and Automation Letters IEEE Robot. Autom. Lett. Robotics and Automation Letters, IEEE. 7(2):1403-1407 Apr, 2022
- Subject
- Robotics and Control Systems
Computing and Processing
Components, Circuits, Devices and Systems
Magnetic particles
Particle measurements
Atmospheric measurements
Substrates
Structural beams
Micromagnetics
Force
Micro/nano robots
automation at micro-nano scales
dynamics
- Language
- ISSN
- 2377-3766
2377-3774
We report trapping and manipulation of permanent magnet microparticles in three dimensions (3-D) by employing a micro-ring actuator to parametrically excite the particles. The actuator is combined with a force sensor to infer the position of a trapped particle along the axis of the ring. We demonstrate experimental results of both trapping and position measurement. The trapped particle has been moved under occluding features and in a variety of trajectories and found to track the center of the micro-ring in all cases. The particle is shown to obey Hill's equation with damping, and the regions of stability in the parameter space of the equation are numerically investigated.