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(Color online) When rotating the actuator quasistatically, the magnetic force tends to attract the magnetic device (e.g., a microrobot) toward the actuator while causing it to roll (a), (c). Operating the actuator dynamically as described herein causes the magnetic force to oppose the magnetic device’s rolling motion in the case where the rolling surface lies between the rotating actuator and the device (b) and to contribute to rolling otherwise (d).
(Color online) The magnetic device is positioned on the z axis and the actuator magnet rotates around the x axis (out of the image), constraining the actuator and device dipole moments, M and m, respectively, to the y-z plane.
(Color online) Rolling velocity of the magnetic device as a function of rotation frequency obtained with the actuator positioned 90 mm above the device (Fig. 1(d)) and using a triaxial Helmholtz coil system.5 Each data point is the average of four trials, and the error bars denote one standard deviation.
(Color online) An experimental setup (a) with the magnetic device circled. Image sequences show the device driven right to left using 1.23 Hz actuation with (b) a constant angular velocity and (c) according to Eq. (3) with . Use of Eq. (3) significantly reduces the attractive magnetic force (enhanced online). [URL: http://dx.doi.org/10.1063/1.3644021.1]10.1063/1.3644021.1
(Color online) Image sequence shows the magnetic force, the subject of this work, levitating the magnetic device against both its weight and the rolling force. The image sequence begins at t = 0 s where the device is at static equilibrium and rises 24 mm to a dynamic equilibrium at t = 60 s with the actuator rotation satisfying Eq. (3) for . Images are shown in 10 s increments (enhanced online). [URL: http://dx.doi.org/10.1063/1.3644021.2]10.1063/1.3644021.2
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