Dynamic Modeling of Stick Slip Motion in an Untethered Magnetic Micro-Robot

This work presents the dynamic modeling of an untethered electromagnetically actuated magnetic micro-robot, and compares the computer simulations to experimental results. The micro-robot, which is composed of neodymium-iron-boron with dimensions 250 um x 130 um x 100 um, is actuated by a system of 5 macro-scale electromagnets. Periodic magnetic fields are created using two different control methods, which induce a stick-slip motion in the micro-robot. This dynamic behavior is modeled and simulated, and these results successfully model the behaviors observed in the real-world experimental system.