DEVELOPING A MOTION MECHANISM FOR A SINGLE MODULE IN A SELF-RECONFIGURABLE MODULAR MICROROBOTICS SYSTEM BY USING EXTERNAL MAGNETIC ACTUATORS

Halil İbrahim Dokuyucu; Nurhan Gürsel Özmen; Ömer Cora

doi:10.17482/uumfd.1137071

Research Article

DEVELOPING A MOTION MECHANISM FOR A SINGLE MODULE IN A SELF-RECONFIGURABLE MODULAR MICROROBOTICS SYSTEM BY USING EXTERNAL MAGNETIC ACTUATORS

Year 2022, Volume: 27 Issue: 3, 1061 - 1080, 31.12.2022

Halil İbrahim Dokuyucu Nurhan Gürsel Özmen Ömer Cora

https://doi.org/10.17482/uumfd.1137071

Abstract

In microrobotics field, self-reconfigurable modular robots (SRMRs) offer several advantages including adaptation to uneven environments, the capability of handling various sets of tasks, and continuous operation in the case of a malfunction of a single module. The current research direction in self-reconfigurable robotic systems is towards reaching million level number of modules working in coherence by means of locomotion, self-reconfiguration, and information flow. This research direction comes with new challenges such as miniaturizing the modules. One should consider looking for alternative ways of locomotion and self-reconfiguration when dealing with SRMRs having million level number of modules. Externally actuating the modules can be a good alternative to micro SRMRs. In this study, we developed a novel motion mechanism for a single module in a micro SRMR system by using external magnetic actuators. An assembly of elastic microtubes and permanent magnets is attached inside a cube-shaped module and periodic motion of the assembly is applied. The motion of a single microtube with permanent magnets inside is generated by using COMSOL Multiphysics software. The results of the simulations are compared with theoretical values to validate the motion mechanism that is introduced in the study.

Keywords

microrobotics, self-reconfiguration, external magnetic actuation, finite elements method

References

1. Abbott, J.J., Peyer, K.E., Lagomarsino, M.C., Zhang, L., Dong, L., Kaliakatsos, I.K. and Nelson, B.J. (2009). How should microrobots swim? International Journal of Robotics Research, 28, 157-167. doi:10.1007/978-3-642-14743-2_14
2. Al Khatib, E., Bhattacharjee, A., Razzaghi, P., Rogowski, L.W., Kim, M.J. and Hurmuzlu Y. (2020). Magnetically Actuated Simple Millirobots for Complex Navigation and Modular Assembly. IEEE Robotics and Automation Letters, 5(2), 2958-2965. doi:10.1109/LRA.2020.2974389
3. Ceylan, H., Giltinan, J., Kozielski, K. and Sitti, M. (2017). Mobile microrobots for bioengineering applications. Lab Chip, 17(10), 1705-1724. doi:10.1039/C7LC00064B
4. Ciszewski, M., Buratowski, T., Giergiel, M., Małka, P. and Kurc, K. (2014). Virtual prototyping, design and analysis of an in-pipe inspection mobile robot. Journal of Theoretical and Applied Mechanics, 52(2), 417-429.
5. Diller, E., Pawashe, C., Floyd, S. and Sitti, M. (2011). Assembly and disassembly of magnetic mobile micro-robots towards deterministic 2-D reconfigurable micro-systems. International Journal of Robotics Research, 30(14), 1667-1680. doi:10.1177/0278364911416140
6. Ergeneman, O., Dogangil, G., Kummer, M.P., Abbott, J.J., Nazeeruddin, M.K. and Nelson, B.J. (2008). A magnetically controlled wireless optical oxygen sensor for intraocular measurements. IEEE Sensors Journal, 8(1), 29-37.doi:10.1109/JSEN.2007.912552
7. Fukuda, T. and Nakagawa, S. (1988). Approach to the dynamically reconfigurable robotic system. Journal of Intelligent and Robotic Systems, 1(1), 55-72. doi:10.1007/BF00437320
8. Goeller, M., Oberlaender, J., Uhl, K., Roennau, A. and Dillmann, R. (2012). Modular robots for on-orbit satellite servicing. 2012 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2018- 2023. doi:10.1109/ROBIO.2012.6491265
9. Hirai, M., Hirose, S. and Lee, W. (2013). Gunryu III: Reconfigurable magnetic wall-climbing robot for decommissioning of nuclear reactor. Advanced Robotics, 27(14), 1099-1111. doi:10.1080/01691864.2013.812174
10. Jeon, S., Hoshiar, A.K., Kim, S., Lee, S., Kim, E., Lee, S., Kim, K., Lee, J., Kim, J. and Choi, H. (2018). Improving guidewire-mediated steerability of a magnetically actuated flexible microrobot. Micro and Nano Systems Letters, 6:15. doi:10.1186/s40486-018-0077-y
11. Koleoso, M., Feng, X., Xue, Y., Li, Q., Munshi, T. and Chen, X. (2020). Micro/nanoscale magnetic robots for biomedical applications. Materials Today Bio, 8, 100085. doi:10.1016/j.mtbio.2020.100085
12. Lin, D., Jiao, N., Wang, Z. and Liu, L. (2021). A Magnetic Continuum Robot with Multi-Mode Control Using Opposite-Magnetized Magnets. IEEE Robotics and Automation Letters, 6(2), 2485-2492. doi:10.1109/LRA.2021.3061376
13. Lyder, A., Garcia, R.F.M. and Stoy, K. (2008). Mechanical design of Odin, an extendable heterogeneous deformable modular robot. 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 883-889. doi:10.1109/IROS.2008.4650888
14. Mastrangeli, M., Abbasi, S., Varel, C., Van Hoof, C., Celis, J.P. and Bohringer, K.F. (2009). Self-assembly from milli- to nanoscales: Methods and applications. Journal of micromechanics and microengineering: structures, devices and systems, 19(8), 83001. doi:10.1088/0960-1317/19/8/083001
15. Nguyen B.H., Son P.T., Kim, J.S. and Lee, J.W. (2020). Field-focused reconfigurable magnetic metamaterial for wireless power transfer and propulsion of an untethered microrobot. Journal of Magnetism and Magnetic Materials, 494, 165778. doi:10.1016/j.jmmm.2019.165778
16. Paulos, J., Eckenstein, N., Tosun, T., Seo, J., Davey, J., Greco, J., Kumar, V. and Yim, M. (2015). Automated Self-Assembly of Large Maritime Structures by a Team of Robotic Boats. IEEE Transactions on Automation Science and Engineering, 12(3), 958-968. doi:10.1109/TASE.2015.2416678
17. Pawashe, C., Floyd, S. and Sitti, M. (2009). Modeling and experimental characterization of an untethered magnetic micro-robot. International Journal of Robotics Research, 28(8), 1077-1094. doi:10.1177/0278364909341413
18. Pieters, R., Lombriser, S., Alvarez-Aguirre, A. and Nelson, B.J. (2016). Model Predictive Control of a Magnetically Guided Rolling Microrobot. IEEE Robotics and Automation Letters, 1(1), 455-460. doi:10.1109/LRA.2016.2521407
19. Ren, L., Nama, N., McNeill, J.M., Soto, F., Yan, Z., Liu, W., Wang, W., Wang, J. and Mallouk, T.E. (2019). 3D steerable, acoustically powered microswimmers for single-particle manipulation. Science Advances, 5(10), eaax3084. doi:10.1126/sciadv.aax3084
20. Sawetzki, T., Rahmouni, S., Bechingera, C. and Marr, D.W. (2008). In situ assembly of linked geometrically coupled microdevices. Proceedings of the National Academy of Sciences of the United States of America, 105(51), 20141-5. doi:10.1073/pnas.0808808105
21. Yang, Z. and Zhang, L. (2020). Magnetic actuation systems for miniature robots: A review. Advanced Intelligent Systems, 2, 2000082. doi:10.1002/aisy.202000082
22. Yim, M., Shen, W.M., Salemi, B., Rus, D., Moll, M., Lipson, H., Klavins, E. and Chirikjian, G.S. (2007). Modular selfreconfigurable robot systems [Grand challenges of robotics], IEEE Robotics and Automation Magazine, 14(1), 43-52. doi:10.1109/MRA.2007.339623
23. Zhou, H., Mayorga-Martinez, C.C., Pane, S., Zhang, L. and Pumera, M. (2021). Magnetically Driven Micro and Nanorobots. Chemical Reviews, 121(8), 4999-5041. doi:10.1021/acs.chemrev.0c01234

Kendi Kendini Konfigüre Edebilen Bir Sistemdeki Tekil Modül İçin Dış Manyetik Eyleyiciler Kullanılarak Hareket Mekanizmasının Geliştirilmesi

Year 2022, Volume: 27 Issue: 3, 1061 - 1080, 31.12.2022

Halil İbrahim Dokuyucu Nurhan Gürsel Özmen Ömer Cora

https://doi.org/10.17482/uumfd.1137071

Abstract

Mikro robotik alanında, kendi kendini konfigüre edebilen modüler robotlar (KKMR) düzensiz çevreye uyum sağlayabilme, birçok değişken görevi yerine getirebilme ve tekil modüllerin arızalanması durumunda operasyonu sürdürebilme gibi avantajlar sunmaktadır. Kendi kendini konfigüre edebilen robotik sistemlerdeki son güncel araştırmalar, milyon seviyesinde modül sayısına sahip sistemlerin hareket, kendi kendini konfigüre etme ve bilgi akışı gözetilerek geliştirilmesi yönündedir. Bu araştırma yönelimi beraberinde modüllerin minyatürleştirilmesi gibi sınamalar getirmektedir. Milyon mertebesinde modüle sahip bir KKMR sistemi göz önünde bulundurulduğunda, hareket ve kendi kendini konfigüre etme mekanizmaları için alternatif metotların araştırılması gerekmektedir. Modüllerin dış eyleyiciler ile harekete geçirilmesi mikro KKMR sistemleri için iyi bir seçenek oluşturmaktadır. Bu çalışmada mikro KKMR sistemindeki tekil bir modül için dış manyetik eyleyiciler kullanılarak özgün bir hareket mekanizması geliştirilmiştir. Esnek mikro tüp ve kalıcı mıknatıslardan oluşan bir yapı modülün içerisine yerleştirilmiş ve yapıya periyodik bir hareket uygulanmıştır. Tekil bir mikro tüp kalıcı mıknatıs yapısının hareketi COMSOL Multiphysics yazılımı kullanılarak canlandırılmıştır. Simülasyon sonuçları teorik değerler ile karşılaştırılarak önerilen hareket mekanizmasının doğrulaması gerçekleştirilmiştir.

Keywords

mikrorobotik, kendi kendini konfigüre etme, dış manyetik tahrik, sonlu elemanlar metodu

References

1. Abbott, J.J., Peyer, K.E., Lagomarsino, M.C., Zhang, L., Dong, L., Kaliakatsos, I.K. and Nelson, B.J. (2009). How should microrobots swim? International Journal of Robotics Research, 28, 157-167. doi:10.1007/978-3-642-14743-2_14
2. Al Khatib, E., Bhattacharjee, A., Razzaghi, P., Rogowski, L.W., Kim, M.J. and Hurmuzlu Y. (2020). Magnetically Actuated Simple Millirobots for Complex Navigation and Modular Assembly. IEEE Robotics and Automation Letters, 5(2), 2958-2965. doi:10.1109/LRA.2020.2974389
3. Ceylan, H., Giltinan, J., Kozielski, K. and Sitti, M. (2017). Mobile microrobots for bioengineering applications. Lab Chip, 17(10), 1705-1724. doi:10.1039/C7LC00064B
4. Ciszewski, M., Buratowski, T., Giergiel, M., Małka, P. and Kurc, K. (2014). Virtual prototyping, design and analysis of an in-pipe inspection mobile robot. Journal of Theoretical and Applied Mechanics, 52(2), 417-429.
5. Diller, E., Pawashe, C., Floyd, S. and Sitti, M. (2011). Assembly and disassembly of magnetic mobile micro-robots towards deterministic 2-D reconfigurable micro-systems. International Journal of Robotics Research, 30(14), 1667-1680. doi:10.1177/0278364911416140
6. Ergeneman, O., Dogangil, G., Kummer, M.P., Abbott, J.J., Nazeeruddin, M.K. and Nelson, B.J. (2008). A magnetically controlled wireless optical oxygen sensor for intraocular measurements. IEEE Sensors Journal, 8(1), 29-37.doi:10.1109/JSEN.2007.912552
7. Fukuda, T. and Nakagawa, S. (1988). Approach to the dynamically reconfigurable robotic system. Journal of Intelligent and Robotic Systems, 1(1), 55-72. doi:10.1007/BF00437320
8. Goeller, M., Oberlaender, J., Uhl, K., Roennau, A. and Dillmann, R. (2012). Modular robots for on-orbit satellite servicing. 2012 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2018- 2023. doi:10.1109/ROBIO.2012.6491265
9. Hirai, M., Hirose, S. and Lee, W. (2013). Gunryu III: Reconfigurable magnetic wall-climbing robot for decommissioning of nuclear reactor. Advanced Robotics, 27(14), 1099-1111. doi:10.1080/01691864.2013.812174
10. Jeon, S., Hoshiar, A.K., Kim, S., Lee, S., Kim, E., Lee, S., Kim, K., Lee, J., Kim, J. and Choi, H. (2018). Improving guidewire-mediated steerability of a magnetically actuated flexible microrobot. Micro and Nano Systems Letters, 6:15. doi:10.1186/s40486-018-0077-y
11. Koleoso, M., Feng, X., Xue, Y., Li, Q., Munshi, T. and Chen, X. (2020). Micro/nanoscale magnetic robots for biomedical applications. Materials Today Bio, 8, 100085. doi:10.1016/j.mtbio.2020.100085
12. Lin, D., Jiao, N., Wang, Z. and Liu, L. (2021). A Magnetic Continuum Robot with Multi-Mode Control Using Opposite-Magnetized Magnets. IEEE Robotics and Automation Letters, 6(2), 2485-2492. doi:10.1109/LRA.2021.3061376
13. Lyder, A., Garcia, R.F.M. and Stoy, K. (2008). Mechanical design of Odin, an extendable heterogeneous deformable modular robot. 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 883-889. doi:10.1109/IROS.2008.4650888
14. Mastrangeli, M., Abbasi, S., Varel, C., Van Hoof, C., Celis, J.P. and Bohringer, K.F. (2009). Self-assembly from milli- to nanoscales: Methods and applications. Journal of micromechanics and microengineering: structures, devices and systems, 19(8), 83001. doi:10.1088/0960-1317/19/8/083001
15. Nguyen B.H., Son P.T., Kim, J.S. and Lee, J.W. (2020). Field-focused reconfigurable magnetic metamaterial for wireless power transfer and propulsion of an untethered microrobot. Journal of Magnetism and Magnetic Materials, 494, 165778. doi:10.1016/j.jmmm.2019.165778
16. Paulos, J., Eckenstein, N., Tosun, T., Seo, J., Davey, J., Greco, J., Kumar, V. and Yim, M. (2015). Automated Self-Assembly of Large Maritime Structures by a Team of Robotic Boats. IEEE Transactions on Automation Science and Engineering, 12(3), 958-968. doi:10.1109/TASE.2015.2416678
17. Pawashe, C., Floyd, S. and Sitti, M. (2009). Modeling and experimental characterization of an untethered magnetic micro-robot. International Journal of Robotics Research, 28(8), 1077-1094. doi:10.1177/0278364909341413
18. Pieters, R., Lombriser, S., Alvarez-Aguirre, A. and Nelson, B.J. (2016). Model Predictive Control of a Magnetically Guided Rolling Microrobot. IEEE Robotics and Automation Letters, 1(1), 455-460. doi:10.1109/LRA.2016.2521407
19. Ren, L., Nama, N., McNeill, J.M., Soto, F., Yan, Z., Liu, W., Wang, W., Wang, J. and Mallouk, T.E. (2019). 3D steerable, acoustically powered microswimmers for single-particle manipulation. Science Advances, 5(10), eaax3084. doi:10.1126/sciadv.aax3084
20. Sawetzki, T., Rahmouni, S., Bechingera, C. and Marr, D.W. (2008). In situ assembly of linked geometrically coupled microdevices. Proceedings of the National Academy of Sciences of the United States of America, 105(51), 20141-5. doi:10.1073/pnas.0808808105
21. Yang, Z. and Zhang, L. (2020). Magnetic actuation systems for miniature robots: A review. Advanced Intelligent Systems, 2, 2000082. doi:10.1002/aisy.202000082
22. Yim, M., Shen, W.M., Salemi, B., Rus, D., Moll, M., Lipson, H., Klavins, E. and Chirikjian, G.S. (2007). Modular selfreconfigurable robot systems [Grand challenges of robotics], IEEE Robotics and Automation Magazine, 14(1), 43-52. doi:10.1109/MRA.2007.339623
23. Zhou, H., Mayorga-Martinez, C.C., Pane, S., Zhang, L. and Pumera, M. (2021). Magnetically Driven Micro and Nanorobots. Chemical Reviews, 121(8), 4999-5041. doi:10.1021/acs.chemrev.0c01234

There are 23 citations in total.

Details

Primary Language	English
Subjects	Control Engineering, Mechatronics and Robotics, Mechanical Engineering
Journal Section	Research Articles
Authors	Halil İbrahim Dokuyucu 0000-0001-6991-1708 Nurhan Gürsel Özmen 0000-0002-7016-5201 Ömer Cora 0000-0003-3564-5493
Early Pub Date	December 9, 2022
Publication Date	December 31, 2022
Submission Date	June 28, 2022
Acceptance Date	November 10, 2022
Published in Issue	Year 2022 Volume: 27 Issue: 3

Cite

APA	Dokuyucu, H. İ., Gürsel Özmen, N., & Cora, Ö. (2022). DEVELOPING A MOTION MECHANISM FOR A SINGLE MODULE IN A SELF-RECONFIGURABLE MODULAR MICROROBOTICS SYSTEM BY USING EXTERNAL MAGNETIC ACTUATORS. Uludağ Üniversitesi Mühendislik Fakültesi Dergisi, 27(3), 1061-1080. https://doi.org/10.17482/uumfd.1137071
AMA	Dokuyucu Hİ, Gürsel Özmen N, Cora Ö. DEVELOPING A MOTION MECHANISM FOR A SINGLE MODULE IN A SELF-RECONFIGURABLE MODULAR MICROROBOTICS SYSTEM BY USING EXTERNAL MAGNETIC ACTUATORS. UUJFE. December 2022;27(3):1061-1080. doi:10.17482/uumfd.1137071
Chicago	Dokuyucu, Halil İbrahim, Nurhan Gürsel Özmen, and Ömer Cora. “DEVELOPING A MOTION MECHANISM FOR A SINGLE MODULE IN A SELF-RECONFIGURABLE MODULAR MICROROBOTICS SYSTEM BY USING EXTERNAL MAGNETIC ACTUATORS”. Uludağ Üniversitesi Mühendislik Fakültesi Dergisi 27, no. 3 (December 2022): 1061-80. https://doi.org/10.17482/uumfd.1137071.
EndNote	Dokuyucu Hİ, Gürsel Özmen N, Cora Ö (December 1, 2022) DEVELOPING A MOTION MECHANISM FOR A SINGLE MODULE IN A SELF-RECONFIGURABLE MODULAR MICROROBOTICS SYSTEM BY USING EXTERNAL MAGNETIC ACTUATORS. Uludağ Üniversitesi Mühendislik Fakültesi Dergisi 27 3 1061–1080.
IEEE	H. İ. Dokuyucu, N. Gürsel Özmen, and Ö. Cora, “DEVELOPING A MOTION MECHANISM FOR A SINGLE MODULE IN A SELF-RECONFIGURABLE MODULAR MICROROBOTICS SYSTEM BY USING EXTERNAL MAGNETIC ACTUATORS”, UUJFE, vol. 27, no. 3, pp. 1061–1080, 2022, doi: 10.17482/uumfd.1137071.
ISNAD	Dokuyucu, Halil İbrahim et al. “DEVELOPING A MOTION MECHANISM FOR A SINGLE MODULE IN A SELF-RECONFIGURABLE MODULAR MICROROBOTICS SYSTEM BY USING EXTERNAL MAGNETIC ACTUATORS”. Uludağ Üniversitesi Mühendislik Fakültesi Dergisi 27/3 (December 2022), 1061-1080. https://doi.org/10.17482/uumfd.1137071.
JAMA	Dokuyucu Hİ, Gürsel Özmen N, Cora Ö. DEVELOPING A MOTION MECHANISM FOR A SINGLE MODULE IN A SELF-RECONFIGURABLE MODULAR MICROROBOTICS SYSTEM BY USING EXTERNAL MAGNETIC ACTUATORS. UUJFE. 2022;27:1061–1080.
MLA	Dokuyucu, Halil İbrahim et al. “DEVELOPING A MOTION MECHANISM FOR A SINGLE MODULE IN A SELF-RECONFIGURABLE MODULAR MICROROBOTICS SYSTEM BY USING EXTERNAL MAGNETIC ACTUATORS”. Uludağ Üniversitesi Mühendislik Fakültesi Dergisi, vol. 27, no. 3, 2022, pp. 1061-80, doi:10.17482/uumfd.1137071.
Vancouver	Dokuyucu Hİ, Gürsel Özmen N, Cora Ö. DEVELOPING A MOTION MECHANISM FOR A SINGLE MODULE IN A SELF-RECONFIGURABLE MODULAR MICROROBOTICS SYSTEM BY USING EXTERNAL MAGNETIC ACTUATORS. UUJFE. 2022;27(3):1061-80.

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