Design and Modeling of a Micro-coil Array Platform for the Smooth Movement of Multiple Micro-robots

Abstract

In recent years, local magnetic field actuation technology has garnered significant attention in the field of collaborative control of multiple micro-robots. By optimizing the design of coil array structures, gradient magnetic fields can be generated in target areas, enabling independent control of multi-robot systems. However, existing research is largely limited to step-by-step actuation modes, which often cause noticeable jitter during robot movement. Moreover, they make it difficult to achieve omnidirectional and continuous motion, severely limiting both motion smoothness and positioning accuracy. To address these issues, this study proposes a coil array actuation platform and introduces a differential current actuation strategy, effectively achieving smooth motion control of multi-robot systems. The research first analyzes the spatial magnetic field distribution characteristics through modeling; then, based on the magnetic force model, a differential current actuation strategy for multiple robots is proposed; finally, an experimental platform is constructed and a series of experiments are conducted. The experimental results show that this actuation platform can achieve independent and smooth control of multiple micro-robots, demonstrating promising potential in applications such as automated microscopic manipulation.