Micro Robot Control

Thanks to the micro-nano production techniques that have been developing day by day, micro robot;

  • Medical Applications
  • Measurement Systems
  • Intelligence and security systems

use of Micro robot such areas is increasing. When looking at the medical applications of micro-robots, there are studies of precise positioning and control in a microfluidic chip in a stationary fluid [4-5]. However there is no study about flow media.


The purpose is that there is no constant velocity and temperature of the blood circulating in the human body. Causes the pressure and flow rate of the blood changing. In order to move the micro-robots in fluid environments with such variable conditions, it is necessary to increase their lateral forces, in particular [6]. As a result of the increase of the lateral forces. The friction force due to the flow must be less than the perpendicular magnetic force acting on the microrobot.

Control of micro robot in human body to;

  • Drug delivery,
  • Artificial insemination,
  • Determination of cancer cell,
  • Cell transport, etc.


Firstly, mathematical model of the Micro robot was derived by using Newton’s equation of force law. Magnetic force, gravitational force and buoyancy forces acting on the z axis. Secondly, flow force and frictional force acting on the y axis. Thirdly, for the system to be stable, the forces in the z-axis must be much greater than the forces on the y-axis[Figure 2]. Besides, Reynolds number is calculated to understand flow type. As a result of the processes, it was understood that the flow is laminar.

The abbreviations are as follows[Table 1];In order to better understand the size of the robot in the figure 2 below a 0.5 TL and micro robot is shown on the Money[Figure 1].In order to understand the stability of our robot, we had to find the stiffness of the robot. Stiffness formula is: ?/Δ? (newton\m) We looking for y-axis stiffness. In order to find the value of the stiffness value on the y-axis. We need to calculate the force on the y-axis acting on the robot. The force that affects the robot on the y axis is the drag force. The system has a horizontal length of 0.06 meters. This causes a drop in pressure. This decrease in pressure also causes reduction in the force acting on robot.


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