Micro-telerobot for manipulation of microscopic objects immersed in a liquid layer
A micro-telerobot for manipulating microscopic objects such as macromolecules and living microorganisms immersed in a liquid layer is proposed. The basic idea is to inject a small number of microscopic solid ferromagnetic or magnetostrictive particles into the liquid layer either before or after the insertion of the microscopic objects to be manipulated. They serve as end-effectors for the micro-telerobot. These end-effectors are activated and steered by an electromagnetic probe located outside the liquid layer. A nonlinear mathematical model describing the dynamic behavior of the micro-telerobot is developed. It is shown that the equilibrium state of an activated end-effector is unstable. The use of a linear feedback control for stabilization is explored. Appropriate values for the feedback gains are obtained with the aid of computer simulation using the nonlinear mathematical model. The article concludes with a discussion of the physical implementation of the proposed micro-telerobot.(Author abstract)
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