Abstract
Abstract Controlling the exact positioning and direction of microrobots is a significant challenge in the prospect of microrobot actuation. To solve this problem, the current study created a system that combines solenoid and permanent magnets as an electromagnetic drive mechanism. This system uses a stepping motor to effectively manage the placement of the permanent magnet in the terminal area of solenoid, enabling precise control of its movement. Additionally, a programmable power source is used to adjust the microrobot’s orientation. Driving tests were conducted on a simulated hepatic vein, achieving speeds of up to 1.3mm/s. These results provide valuable references for optimizing future electromagnetic actuation systems.
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