caa a22 4500 60548029X CHVBK 20210128100414.0 cr unu---uuuuu 210128e20150401xx s 000 0 eng 10.1007/s10544-015-9942-0 doi (NATIONALLICENCE)springer-10.1007/s10544-015-9942-0 A novel hybrid microrobot using rotational magnetic field for medical applications [Elektronische Daten] [Qiang Fu, Shuxiang Guo, Yasuhiro Yamauchi, Hideyuki Hirata, Hidenori Ishihara] Magnetically actuated microrobots for such tools have potential accomplish procedures in biological and medical applications. In this paper, a novel magnetically actuated hybrid microrobot with hybrid motion driven by an electromagnetic actuation system has been proposed. An o-ring type permanent magnet is embedded in the hybrid microrobot as an actuator driven by rotational magnetic field which is generated by a 3 axes Helmholtz coils. It is composed by two motion mechanisms. One is the spiral jet motion moved by rotating its body. The other one is fin motion moved by vibrating its body. Because only one permanent magnet is used inside the hybrid microrobot, two motions can be controlled separately without any interference. The hybrid microrobot can change its two motions to realize multi-DOFs movement and flexibility motion. The verified experiments are conducted in the pipe. The experimental results indicate that the moving speed can be controlled by adjusting the magnetic field changing frequency and the direction of motion can be controlled by changing the magnetic field direction. Springer Science+Business Media New York, 2015 Multi-DOFs movement nationallicence Magnetically actuated hybrid microrobot nationallicence Rotational magnetic field nationallicence Electromagnetic actuation system nationallicence Hybrid motion nationallicence Fu Qiang Graduate School of Engineering, Kagawa University, 2217-20, Hayashi-cho, 761-0396, Takamatsu, Japan aut Guo Shuxiang Faculty of Engineering, Kagawa University, 2217-20, Hayashi-cho, 761-0396, Takamatsu, Japan aut Yamauchi Yasuhiro Graduate School of Engineering, Kagawa University, 2217-20, Hayashi-cho, 761-0396, Takamatsu, Japan aut Hirata Hideyuki Faculty of Engineering, Kagawa University, 2217-20, Hayashi-cho, 761-0396, Takamatsu, Japan aut Ishihara Hidenori Faculty of Engineering, Kagawa University, 2217-20, Hayashi-cho, 761-0396, Takamatsu, Japan aut Biomedical Microdevices Springer US; http://www.springer-ny.com 17/2(2015-04-01), 1-12 1387-2176 17:2<1 2015 17 10544 https://doi.org/10.1007/s10544-015-9942-0 text/html Onlinezugriff via DOI BK010053 XK010053 XK010000 Metadata rights reserved Springer special CC-BY-NC licence nationallicence 1 research-article jats NATIONALLICENCE NATIONALLICENCE NL-springer NATIONALLICENCE 856 40 https://doi.org/10.1007/s10544-015-9942-0 text/html Onlinezugriff via DOI NATIONALLICENCE 700 1- Fu Qiang Graduate School of Engineering, Kagawa University, 2217-20, Hayashi-cho, 761-0396, Takamatsu, Japan aut NATIONALLICENCE 700 1- Guo Shuxiang Faculty of Engineering, Kagawa University, 2217-20, Hayashi-cho, 761-0396, Takamatsu, Japan aut NATIONALLICENCE 700 1- Yamauchi Yasuhiro Graduate School of Engineering, Kagawa University, 2217-20, Hayashi-cho, 761-0396, Takamatsu, Japan aut NATIONALLICENCE 700 1- Hirata Hideyuki Faculty of Engineering, Kagawa University, 2217-20, Hayashi-cho, 761-0396, Takamatsu, Japan aut NATIONALLICENCE 700 1- Ishihara Hidenori Faculty of Engineering, Kagawa University, 2217-20, Hayashi-cho, 761-0396, Takamatsu, Japan aut NATIONALLICENCE 773 0- Biomedical Microdevices Springer US; http://www.springer-ny.com 17/2(2015-04-01), 1-12 1387-2176 17:2<1 2015 17 10544