An experimental stand for studying the motion of magnetically active objects under the influence of the magnetic field of a movable magnet

An experimental stand for studying the motion of magnetically active objects under the influence of the magnetic field of a movable magnet

Andrei V. Malchikov
PhD in Technical Sciences, South-West State University (SWSU), Associate Professor of the Department MMiR, 94, ul. 50 Let Octyabrya, Kursk, 305040, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it., ORCID: 0000-0003-2902-1721

Sergey F. Jatsun
Doctor of Technical Science, Professor, SWSU, Head of the Department MMiR, 94, ul. 50 Let Octyabrya, Kursk, 305040, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it., ORCID: 0000-0002-7420-0772

Petr A. Ryapolov
Doctor of Physical and Mathematical Sciences, Associate Professor, SWSU, Dean of the ENF South State University, 94, ul. 50 Let Octyabrya, Kursk, 305040, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it., ORCID: 0000-0001-7712-0682

Danila V. Vorobyov
SWSU, Student of the department MMiR, 94, ul. 50 Let Octyabrya, Kursk, 305040, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it.

Alexander I. Kalmykov
SWSU, Student of the department MMiR, 94, ul. 50 Let Octyabrya, Kursk, 305040, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it.

Received May 25, 2024

Abstract
Magnetically actuated robots with non-contact external control represent a promising avenue for the development of techniques in gentle microsurgery, biopsy, and targeted drug delivery. A significant challenge in the creation of safe and highly precise magnetically controlled microrobots lies in establishing a non-contact control system, which necessitates both the establishment of a sound scientific mathematical foundation and validation of simulation outcomes through field experiments. The paper presents a laboratory experimental stand for investigating a non-contact control of the motion of magnetically actuated objects. A design for a permanent magnet moving system that generates a change in the magnetic field near the microrobot, the structure of the measurement system, and the hardware and software implementation of the control unit for the experimental setup are also proposed. The paper presents the results of the experimental investigation to determine the magnetic field induction near the magnet, as well as the magnitude of the ponderomotive force, and an analysis of these results is provided.

Key words
Laboratory stand, magnetically controlled microrobot, experimental research, magnetic field, magnetically active object.

Acknowledgements
The work was supported by Russian Science Foundation, research project No.24-29-00653.

DOI
10.31776/RTCJ.12404

Bibliographic description
Malchikov, A.V. et al. (2024), "An experimental stand for studying the motion of magnetically active objects under the influence of the magnetic field of a movable magnet", Robotics and Technical Cybernetics, vol. 12, no. 4, pp. 270-279, DOI: 10.31776/RTCJ.12404. (in Russian).

UDC identifier
681.518.3:681.527.83

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