Motion Control of Piezomagnetic Spiral Microrobot Driven by Magnetic Filed

The spiral microrobot has distinct advantages in low Reynolds number environments, making them highly effective for cargo transport. The magnetic field driving mechanisms for these micro robots include gradient magnetic fields and rotating magnetic fields. The motion model of spiral micro robots made from piezomagnetic materials differ significantly from those made of hard magnetic materials due to the magnetostrictive effect. In this paper, the motion of spiral microrobot under the combined action of piezomagnetic stress and magnetic field force is discussed. The models and analyzes the microrobot's motion in relation to magnetic field parameters and structural configurations, under both gradient and rotating magnetic fields. Results indicate that under a gradient magnetic field, the magnetostrictive effect has a significant impact on the microrobot's motion, while it has minimal influence under a rotating magnetic field. Additionally, the effect of various spiral structural parameters on the microrobot's velocity is examined.