تقرير
Ferrofluidic Manipulator: Automatic Manipulation of Non-magnetic Microparticles at Air-Ferrofluid Interface
| العنوان: | Ferrofluidic Manipulator: Automatic Manipulation of Non-magnetic Microparticles at Air-Ferrofluid Interface |
|---|---|
| المؤلفون: | Cenev, Zoran, Harischandra, P. A. Diluka, Nurmi, Seppo, Latikka, Mika, Hynninen, Ville, Ras, Robin H. A., Timonen, Jaakko V. I., Zhou, Quan |
| المصدر: | IEEE/ASME Transactions on Mechatronics Volume: 26, Issue: 4, Aug. 2021 |
| سنة النشر: | 2020 |
| المجموعة: | Computer Science Condensed Matter |
| مصطلحات موضوعية: | Computer Science - Robotics, Condensed Matter - Soft Condensed Matter |
| الوصف: | Manipulation of small-scale matter is a fundamental topic in micro- and nanorobotics. Numerous magnetic robotic systems have been developed for the manipulation of microparticles in an ambient environment, liquid as well as on the air-liquid interface. These systems move intrinsically magnetic or magnetically tagged objects by inducing a magnetic torque or force. However, most of the materials found in nature are non-magnetic. Here, we report a ferrofluidic manipulator for automatic two-dimensional manipulation of non-magnetic objects floating on top of a ferrofluid. The manipulation system employs eight centimeter-scale solenoids, which can move non-magnetic particles by deforming the air-ferrofluid interface. Using linear programming, we can control the motion of the non-magnetic particles with a predefined trajectory of a line, square, and circle with a precision of 25.1+/-19.5 um, 34.4+/-28.4 um and 33.4+/-26.6 um, respectively. The ferrofluidic manipulator is versatile with the materials and the shapes of the objects under manipulation. We have successfully manipulated particles made of polyethylene, polystyrene, a silicon chip, and poppy and sesame seeds. This work shows a promising venue for the manipulation of living and non-living matter at the air-liquid interface. Comment: 9 pages, 8 figures |
| نوع الوثيقة: | Working Paper |
| DOI: | 10.1109/TMECH.2021.3081114 |
| URL الوصول: | http://arxiv.org/abs/2101.02782 |
| رقم الأكسشن: | edsarx.2101.02782 |
| قاعدة البيانات: | arXiv |
| DOI: | 10.1109/TMECH.2021.3081114 |
|---|