Noncontact Manipulation of Magnetic Particles by a Hexagonal Array of Electromagnets

This paper reports the development of a magnetic manipulator that utilizes a hexagonal array of electromagnets for noncontact control of magnetic particles inside a planar, circular workspace. Relying on 6 independent electromagnets, this array provides 6 degrees of freedom for feedback control, which can be leveraged for planar manipulation of up to 3 magnetic particles simultaneously. The design procedure of the developed magnetic manipulator is briefly presented, emphasizing the design of its electromagnets and their voltage drivers. The proper operation of this magnetic manipulator under feedback control is verified by experiments.