In our first article we talked about purpose and mathematical model of micro robot control project. In this article we are talkin about micro robot control method and analysis. Firstly, we think of a system where we can get and store data. To get this data, we will add one camera and one dot laser sensor as input to our system. We aim to make this data meaningful in a computer environment thanks to the human machine interface. Based on the data we received, we will position our 3 degrees of freedom with a micro channel. Thanks to the human machine interface, we will maintain our micro robot with 5 DOF motor. We will apply laminar flow at different speeds, different pressures and different viscosity values to our micro-robot[Figure 3].Micro Robot Control Method, we aim to provide precise position control of our micro robot.
| Symbol | Quantity | Units |
| ? ? | Robot Velocity Value | 0-75 (mm/s) |
| ?? | Robot Mass | 0.002 (gr) |
| Q | Flow Rate Value | 0-35 (ml/dk) |
| P | Pressure Vlaue | 0-1.91 (paskal) |
| ? ? | Flow Velocity Value | 0-0.027 (mm/s) |
| w-h-l | Chip Dimensions | 7-3-57 (mm) |
| ? | Density | 997 (kg/m3) |
| Re | Reynolds Number | 107.676 |
| ? | Dynamic Viscosity | 0.001 (N*s/m2) |
| ? ? | Gravitational Force | 19 μN |
| ? ? | Bouyant Force | 0.392 μN |
| ? ? | Drag Force | 1.8 (m Newton) |
| ?? | Drag Coefficient | 0.005 |
Micro Robot Control Analysis
The drag coefficient for objects of different geometry in the flow is not defined in the literature. Therefore, we have chosen a geometry for the robot we will use in our own, and we have done pressure analysis in the flow. As a result, we found that the drag coefficient value is too small. Also we show that flow is laminar in comsol analysis. When figure 9 and figure 10 compared the magnetic field strength lines are observed how the linearization. The magnetic field force lines in figure 9 were angled at 8.1 degrees with z-axis, while magnetic field force lines at figure 10 made an angle of 55.5 degrees with z-axis. This is an indication of 47.4 degrees of improvement in the magnetic field strength lines.
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