Modular Platform for Magnetic Minirobots Operation with Integrated Non-Visual Localization

摘要

Experimental platforms for miniature magnetic robot operation usually include a wide range of instruments providing platform control, robot operation and measurement, and recording or evaluating ongoing experiments and tests. While the laboratory instruments are explicitly used for each experiment, the control system can be unified. A compact and modular platform for miniature magnetic robots operation with an integrated magnetic feedback system is presented. By designing the platform to be modular and controlled via standard protocols, scientific groups can join the field fast and develop control algorithms or in-house hardware modules without a long development period and typical hardware troubles. The platform is designed with standard manufacturing technologies available worldwide (PCB, electronic assembling, and 3D printing) and thus can be produced based on production data anywhere in the world. The paper provides a comprehensive overview of the features related to our developed platform for easier design replication. The platform allows the option to control the position of multiple miniature robots and receive feedback about the magnetic flux density distribution close to the actuation surface.