Abstract
AbstractThe existing vascular microrobots are mainly individual robots because of the limitations of size. Aiming at the existing problems of vascular swarm robot, this paper focuses on the aggregation of magnetic particles. Through theoretical analysis, the formula of magnetic interaction force between particles is derived. Then the mechanism is verified and a ribbon-like swarm is generated by the numerical simulation. The simulation results show that the main factors affect the aggregation are the amplitude ratio γ, the frequency f and the constant component B0. γ and f are positively and negatively correlated with the aspect ratio of swarm respectively. The constant component affects the direction of swarm. In conclusion, the magnetic interaction force is the fundamental reason for the aggregation of magnetic particles and the particles can aggregate into swarm in a triangular oscillating field.KeywordsSwarm controlMagnetic particlesMagnetic control
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