DocumentCode :
2622519
Title :
Measuring the Magnetic and Hydrodynamic Properties of Assembled-MEMS Microrobots
Author :
Kummer, Michael P. ; Abbott, Jake J. ; Vollmers, Karl ; Nelson, Bradley J.
Author_Institution :
Inst. of Robotics & Intelligent Syst., ETH Zurich
fYear :
2007
fDate :
10-14 April 2007
Firstpage :
1122
Lastpage :
1127
Abstract :
Microrobots experience physical phenomena that are difficult to model analytically and that are not completely captured with macro-scale prototypes. In this paper we present a reconfigurable robotic measurement system to characterize the magnetic and hydrodynamic properties of assembled-MEMS microrobots. The system consists of a powerful permanent magnet that is position controlled with a linear stage. The magnetic field is accurately characterized. Precision sensors are used to measure magnetic force as a function of applied field. The system is first used to validate an existing model for the magnetic force on a soft-magnetic ellipsoid. Next, the magnetic force on a soft-magnetic assembled-MEMS microrobot as a function of the applied field is measured experimentally. Finally, a vision tracking system is integrated with the setup to measure the hydrodynamic properties of the microrobot. The coefficient of viscous friction for the microrobot is obtained experimentally.
Keywords :
magnetic variables control; magnetic variables measurement; microrobots; position control; assembled-MEMS microrobots; hydrodynamic properties; magnetic field characterization; magnetic force measurement; magnetic properties; permanent magnet; position control; precision sensors; reconfigurable robotic measurement system; soft-magnetic ellipsoid; viscous friction; vision tracking system; Force measurement; Hydrodynamics; Magnetic analysis; Magnetic field measurement; Magnetic forces; Magnetic properties; Power system modeling; Prototypes; Robot sensing systems; Robotic assembly;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 2007 IEEE International Conference on
Conference_Location :
Roma
ISSN :
1050-4729
Print_ISBN :
1-4244-0601-3
Electronic_ISBN :
1050-4729
Type :
conf
DOI :
10.1109/ROBOT.2007.363135
Filename :
4209239
Link To Document :
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