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

摘要

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 simula-tion 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 sys-tem 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.