The magnetically actuated robot has valuable potential in biomedicine, bioengineering, and biophysics for its capability to precisely manipulate particles or biological tissues. However, the deformability of rigid robots with predetermined shapes is limited, which constricts their functions and causes inconvenience for robots' movement in constricted space. In this study, we proposed a feasible and efficient ferrofluid-based robot for the transportation of tiny particles and blocks. In addition, a method to generate a patterned magnetic field is also introduced to model a ferrofluid-based robot with an adaptive shape. Benefiting from the paramagnetism and fluidity of the ferrofluid-based robot, it also demonstrates outstanding motion accuracy and output force on a superhydrophobic surface. Because of its excellent motion characteristics, high motion accuracy, and high measured output force, the proposed ferrofluid-based robot has great advantages in the field of microoperation. The correlation coefficient between the motion trajectory of the ferrofluid-based robot and the motion trajectory of the micro-stages is 0.9967. The position error is less than 1.5% of the total stroke.
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29 March 2021
Research Article|
March 31 2021
Deformable ferrofluid-based millirobot with high motion accuracy and high output force
Dixiao Chen
;
Ziping Yang;
Yiming Ji;
Yuguo Dai
;
Yuguo Dai
d)
2
The University of Tokyo
, Bunkyoku 113-8656, Japan
Search for other works by this author on:
Lin Feng
;
Lin Feng
e)
1
Beihang University
, Beijing 100191, China
3
Beijing Advanced Innovation Center for Biomedical Engineering
, Beijing 100083, China
e)Author to whom correspondence should be addressed: [email protected]
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Fumihito Arai
Fumihito Arai
f)
2
The University of Tokyo
, Bunkyoku 113-8656, Japan
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a)
Electronic mail: [email protected]
b)
Electronic mail: [email protected]
c)
Electronic mail: [email protected]
d)
Electronic mail: [email protected]
e)Author to whom correspondence should be addressed: [email protected]
f)
Electronic mail: [email protected]
Appl. Phys. Lett. 118, 134101 (2021)
Article history
Received:
January 04 2021
Accepted:
March 19 2021
Citation
Dixiao Chen, Ziping Yang, Yiming Ji, Yuguo Dai, Lin Feng, Fumihito Arai; Deformable ferrofluid-based millirobot with high motion accuracy and high output force. Appl. Phys. Lett. 29 March 2021; 118 (13): 134101. https://doi.org/10.1063/5.0042893
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