In this project, we considered the world’s first really untethered microrobots that are driven by oscillating magnetic fields. The oscillations are converted into mechanical energy and rectified using a spring-mass impact system with friction, leading to stick-slip motion. I model this system using non-smooth multi-body dynamics and can explain several unintuitive behaviors that are experimentally not explicable because of the nature of the devices.
Z. Nagy, D. Frutiger, R.I. Leine, C. Glocker, and B. J. Nelson, Modeling and analysis of wireless resonant magnetic microactuators, in Proc. IEEE Int. Conference on Robotics and Automation (ICRA), 2010, Anchorage, AK, USA
Z. Nagy, R.I. Leine, D.R. Frutiger, C.Glocker, and B. J. Nelson, Modeling the Motion of Microrobots on Surfaces Using Non-Smooth Multibody Dynamics, IEEE Transactions on Robotics, Vol.28, No.5, pp.1058-1068, October 2012