An Impact-Driven Micro-Robot Based on Electromagnetic Digital Actuation Principle

This study presents an electromagnetically actuated microrobot. The architecture combines planar electromagnetic coils and a cylindrical permanent magnet to achieve impact-driven motion. Analytical models were developed to predict force dynamics and displacement during actuation cycles. Experimental validation demonstrated a step size of 0.708 mm per cycle for an injected current of 0.3 A, with a total actuation time of 65 ms. Pre-calculated timing ensured smooth rebounds and consistent operations, while the obtained results provided a good agreement between theoretical predictions and experimental data. The proposed actuator highlights its potential in applications requiring precise motion with low power consumption.