Design of Planar Permanent Magnet Array for Remotely Actuated Magnetic Micro Robots

While previous studies have proposed using circular arrangements of permanent magnets to capture magnetic micro robots, this research focuses on a novel approach: arranging permanent magnets in a linear configuration within an open rectangular shape to efficiently trap the magnetic robot in space. Additionally, a driving system comprising a robotic arm and robot tracking system is developed to manipulate the array. The design process involves a parameter-based optimization of the permanent magnet array to maximize capturing force on the magnetic robot while minimizing undesired forces. A driving system is devised to translocate the magnet array, effectively relocating the magnetic robot remotely. Experimental validation of the magnet array driving system demonstrates a reasonable 5 % error in position accuracy. This study not only establishes a foundation for further exploration into open-shaped permanent magnet arrays but also suggests improvements in manipulation systems for micro robot control.