Holonomic 5-DOF magnetic control of 1D nanostructures

Author

Schürle, S. ; Peyer, K.E. ; Kratochvil, B.E. ; Nelson, B.J.

Author_Institution

Inst. of Robot. & Intell. Syst., ETH Zurich, Zurich, Switzerland

fYear

2012

fDate

14-18 May 2012

Firstpage

1081

Lastpage

1086

Abstract

This paper presents a manipulation system capable of five degree of freedom (5-DOF) control of a magnetic nanoagent (3-DOF position, 2-DOF orientation) implemented on an inverted microscope. Magnetic fields up to 50 mT and gradients up to 5 T/m at frequencies up to 6 kHz can be achieved. The independent generation of field and gradient vectors enables holonomic 5-DOF wireless magnetic manipulation at the nanoscale. Multiple types of motion were investigated for nickel nanowires of different lengths and analyzed using resistive force theory.

Keywords

magnetic fields; magnetic forces; manipulators; microscopes; motion control; nanostructured materials; nickel; position control; vectors; 1D nanostructures; 2-DOF orientation; 3-DOF position; five-degree-of-freedom control; frequencies; gradient vectors; holonomic 5-DOF wireless magnetic manipulation; inverted microscope; magnetic field generation; magnetic nanoagent; nanoscale; nickel nanowire lengths; resistive force theory; Drag; Force; Magnetic forces; Magnetic resonance imaging; Magnetization; Nanostructures; Vectors;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation (ICRA), 2012 IEEE International Conference on

Conference_Location

Saint Paul, MN

ISSN

1050-4729

Print_ISBN

978-1-4673-1403-9

Electronic_ISBN

1050-4729

Type

conf

DOI

10.1109/ICRA.2012.6224926

Filename

6224926