Microassembly using a Cluster of Paramagnetic Microparticles

I.S.M. Khalil, F.V Brink, Ö. Sardan Sukas, Sarthak Misra

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademic

    22 Citations (Scopus)
    51 Downloads (Pure)


    We use a cluster of paramagnetic microparticles to carry out a wireless two-dimensional microassembly operation. A magnetic-based manipulation system is used to control the motion of the cluster under the influence of the applied magnetic fields. Wireless motion control of the cluster is implemented at an average velocity and maximum position tracking error of 144 μm/s and 50 μm, respectively. This control is used to achieve point-to-point positioning of the cluster, manipulation of microobjects, and assembly of microobjects into a microstructure. The control system achieves stable positioning of the cluster, while simultaneously compensating for the planar drag forces on the cluster and the microobject. The presented magneticbased microassembly technique allows for the selective pushing and pulling of microobjects with specific geometries towards their destinations inside a microstructure in an execution time of 18 s, within a workspace of 1.8 mm × 2.4 mm.
    Original languageUndefined
    Title of host publication2013 IEEE International Conference on Robotics and Automation (ICRA)
    Place of PublicationKarlsruhe
    Number of pages6
    ISBN (Print)978-1-4673-5642-8
    Publication statusPublished - 6 May 2013
    Event2013 IEEE International Conference on Robotics and Automation, ICRA 2013 - Karlsruhe, Germany
    Duration: 6 May 201310 May 2013

    Publication series

    Name2013 IEEE International Conference on Robotics and Automation
    PublisherIEEE RAS


    Conference2013 IEEE International Conference on Robotics and Automation, ICRA 2013
    Abbreviated titleICRA


    • METIS-296468
    • EWI-23329
    • microassembly
    • Magnetic
    • Robotics
    • IR-86203
    • Control

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