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Turkish Journal of Electrical Engineering and Computer Sciences

Author ORCID Identifier

HÜSEYİN YILDIZ: 0000-0002-0575-3904

SERDAR YILMAZ: 0000-0002-4316-3737

YASEMİN Poyraz KOÇAKPOYRAZ KOÇAK: 0000-0002-1502-7260

EROL UZAL: 0000-0003-0008-1376

Abstract

Over the last decade, the number of studies in the field of magnetic micro robots has significantly increased due to expectations of performing microsurgery, drug delivery, and similar medical procedures. Magnetic micro robots have advantages over other types of micro robots in terms of having independent designs for rotor and stator structures. Magnetic micro robots can be controlled by magnetic fields and can be programmed to move in certain directions and to perform various functions. This paper implements the computer-aided real-time control of a single-arm micro-pendulum structure to (eventually) perform cell manipulation tasks. The mechanical structure, mathematical model, control circuit and control algorithm of the system are explained and detailed results are presented. The pendulum mechanism consists of a magnetic rod that acts as a rotor and two independent coil windings that act as a stator. The pendulum rod is a 37 mm long magnetic arm mechanism that was fabricated using 3D printing technology. Rotor position and speed can be controlled by varying the currents in the stator windings. The control system consists of a 60 FPS camera in the feedback loop which is used to measure the pendulum angle, the electronic control circuit and PID controller system. The results obtained show that the magnetic pendulum system can be controlled in the range of pendulum angles ±10o with a control system capable of producing 12V voltage and 3A current.

DOI

10.55730/1300-0632.4137

Keywords

magnetic pendulum, magnetic robot, Micro robot, pendulum, PID control, real time image processing

First Page

443

Last Page

459

Publisher

The Scientific and Technological Research Council of Türkiye (TÜBİTAK)

Creative Commons License

Creative Commons Attribution 4.0 International License
This work is licensed under a Creative Commons Attribution 4.0 International License.

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