KR102471779B1 - Micro nano robot control system - Google Patents

Abstract

The present invention relates to a micro-nano robot control system capable of controlling three-dimensional movement of a micro-robot using a single core. To this end, the present invention may include: a fixed frame; a plurality of multi-axis control devices each including a first joint part coupled to the fixed frame, a length adjusting member rotatably coupled to the first joint part, and a second joint part rotatably coupled to the length adjusting member; and a magnetic field generating device rotatably coupled to the plurality of multi-axis control devices.

Description

Micro nano robot control system {MICRO NANO ROBOT CONTROL SYSTEM}

The present invention relates to a micro-nano robot control system, and more particularly, to a micro-nano robot control system capable of controlling three-dimensional movement of a micro-nano robot using a single core.

In general, microrobots refer to micro-sized robots, and can be applied in various ways such as medical, space, and national defense industries according to their shapes and uses. The movement of the microrobot can be controlled by inserting a permanent magnet inside.

A magnetic field is used to move the microrobot. The driving system of the microrobot for generating such a magnetic field has a driving device capable of driving the microrobot in a plane using a basic electromagnet coil system and one rotation axis.

Here, the electromagnet coil refers to an object in which a conductive wire such as a copper wire is wound in a pi (pi) direction around an axis so as to generate a magnetic field in the direction of the central axis by flowing current. As the current of the electromagnet coil is controlled, a magnetic field is generated, and the moving speed and direction of the microrobot can be controlled by the generated magnetic field.

However, the conventional electromagnet coil generates a magnetic field in only one direction, and thus can control the movement of the microrobot only in two dimensions.

In order to move the microrobot in three dimensions, a plurality of coils are required, a high power and expensive electromagnetic system is required, and a complex algorithm for controlling the movement of the microrobot is required.

That is, the electromagnet coil system consists of 6 or more (3 pairs of x-, y-, and z-axes in total) for instantaneously forming an arbitrary magnetic field vector in a 3-dimensional space in order to move the microrobot in 3-dimensions. Coil parts are required.

Korean Registered Patent No. 10-1003132 (2010.12.15, registration)

Therefore, the present invention has been derived to solve the above problems, and an object of the present invention is to provide a micro nano robot control system capable of controlling the three-dimensional movement of a micro nano robot using a single core.

In addition, the present invention controls the trapping point, which is the center of the coil, through tilting and parallel movement of the coil, and controls the strength of the magnetic field generated from the coil to control the height of the micro-nano robot located at the trapping point. Another object is to provide a robot control system.

Another object of the present invention is to provide a micro/nano robot control system capable of changing the height and position of a coil by controlling the length and angle of a multi-axis controller connected to the coil.

Other objects of the present invention will become clearer through the examples described below.

A micro/nano robot control device according to an aspect of the present invention includes a fixed frame, a first joint coupled to the fixed frame, a length adjusting member rotatably coupled to the first joint, and a first joint rotatably coupled to the length adjusting member. It may include a plurality of multi-axis control devices each including two joint parts and a magnetic field generator rotatably coupled to the plurality of multi-axis control devices.

In addition, the first joint unit includes a first joint coupling member coupled to the fixed frame and a first joint rotation member rotatably coupled to the first joint coupling member, and the second joint unit is coupled to the length adjusting member. A 21 joint rotation member including 21 bearing members and a 22 joint rotation member including a 22 bearing member coupled to the 21 joint rotation member and to which a magnetic field generator is coupled.

In addition, each of the plurality of multi-axis control devices may further include a length conversion measuring member coupled to the length adjusting member.

In addition, a coil cooling device connected to the magnetic field generator may be further included.

In addition, it may further include a micro-robot accommodating part coupled to the fixing frame so as to face the projection surface of the magnetic field generating device.

In addition, a micro-robot position measuring device coupled to the fixed frame to measure the position of the micro-robot may be further included.

The micro/nano robot control system according to an embodiment of the present invention provides the following effects.

The present invention has an effect of controlling the three-dimensional movement of a microrobot using a single core.

The present invention has an effect of controlling the trapping point, which is the center of the coil, through tilting and parallel movement of the coil, and controlling the height of the microrobot located at the trapping point by controlling the strength of the magnetic field generated from the coil.

The present invention has the effect of changing the height and position of the coil by controlling the length and angle of the multi-axis control device connected to the coil.

The effects of the present invention are not limited to those mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the description below.

1 is a perspective view illustrating a micro/nano robot control system according to an embodiment of the present invention.
2 is a perspective view showing a plurality of multi-axis control devices of a micro/nano robot control system according to an embodiment of the present invention.
3 is a perspective view showing a multi-axis control device of a micro/nano robot control system according to an embodiment of the present invention.
4 is a perspective view showing a first joint part of a multi-axis control device according to an embodiment of the present invention.
5 is a perspective view illustrating a second joint part of a multi-axis control device according to an embodiment of the present invention.
6 is an image for explaining a steering angle of a second joint unit of a multi-axis control device according to an embodiment of the present invention.
7 is a perspective view illustrating a magnetic field generating device of a micro/nano robot control system according to an embodiment of the present invention.
8 is a side view illustrating a magnetic field generating device of a micro/nano robot control system according to an embodiment of the present invention.
9 is a perspective view illustrating a micro/nano robot control system according to another embodiment of the present invention.
10 is an image for explaining movement of a micro/nano robot according to embodiments of the present invention.

Since the present invention can apply various transformations and have various embodiments, specific embodiments will be illustrated in the drawings and described in detail in the detailed description. However, it should be understood that this is not intended to limit the present invention to specific embodiments, and includes all transformations, equivalents, and substitutes included in the spirit and scope of the present invention. In describing the present invention, if it is determined that a detailed description of related known technologies may obscure the gist of the present invention, the detailed description will be omitted.

Terms used in this application are only used to describe specific embodiments, and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly dictates otherwise. In this application, the terms "include" or "have" are intended to designate that there is a feature, number, step, operation, component, part, or combination thereof described in the specification, but one or more other features It should be understood that the presence or addition of numbers, steps, operations, components, parts, or combinations thereof is not precluded.

Terms such as first and second may be used to describe various components, but the components should not be limited by the terms. These terms are only used for the purpose of distinguishing one component from another.

Hereinafter, embodiments according to the present invention will be described in detail with reference to the accompanying drawings. description is omitted.

Hereinafter, a micro/nano robot control system according to embodiments of the present invention will be described in detail with reference to FIGS. 1 to 10 .

1 is a perspective view illustrating a micro/nano robot control system according to an embodiment of the present invention.

As shown in FIG. 1, the micro/nano robot control system 100 according to an embodiment of the present invention may include a fixed frame 110, a plurality of multi-axis control devices 120, and a magnetic field generator 130. have.

The fixed frame 110 may serve to support the plurality of multi-axis control devices 120 at a certain height from the ground. The fixed frame 110 may include a vertical frame 111 , a horizontal frame 112 , an upper frame 113 and a support frame 114 .

The vertical frame 111 is disposed perpendicular to the ground and may be configured in plurality. The vertical frame 111 may be combined with the horizontal frame 112 , the upper frame 113 and the support frame 114 .

The horizontal frame 112 may be coupled to the vertical frame 111 horizontally with the ground. A plurality of horizontal frames 112 may be formed, and vertical frames 111 may be connected to each other.

The upper frame 113 may be coupled to the top of the vertical frame 111 . A plurality of multi-axis control devices 120 may be coupled to the upper frame 113 through the connection frame 115 shown in FIG. 2 .

The support frame 114 may be coupled to the lowermost end of the vertical frame 111 in contact with the ground. The support frame 114 is formed in an approximate L shape, and may prevent the fixed frame 110 from shaking by distributing the load applied to the vertical frame 111 .

One end of the plurality of multi-axis control devices 120 may be coupled to the fixed frame 110, and the magnetic field generator 130 may be coupled to the other end. The plurality of multi-axis control devices 120 may change the position of the magnetic field generator 130 by adjusting the length and rotation angle.

Referring to FIGS. 2 to 5 , the plurality of multi-axis control devices 120 may include a first joint part 121 , a length adjusting member 122 and a second joint part 123 .

The first joint part 121 may be coupled to the fixing frame 110 . The first joint part 121 is coupled to the connection frame 115 of the fixed frame 110 by a separate fastening member (not shown) such as a bolt or nut, and a connection frame 115 coupled to the upper frame 113 It can be coupled to the upper frame 113 through.

The first joint part 121 may include a first joint coupling member 121a and a first joint rotating member 121b. The first joint part 121 may be a general universal joint.

The first joint coupling member 121a may be coupled to the fixing frame 110 through the first fixing part 121c. The first fixing part 121c may be a fastening means for coupling the first joint coupling member 121a to the fixing frame 110 .

The first joint rotation member 121b may be coupled to the first joint coupling member 121a through the first combined bearing member 121d. The first combined bearing member 121d is installed between the first joint coupling member 121a and the first joint rotation member 121b, and the first joint rotation member 121b is disposed from the first joint coupling member 121a. One rotation (R1) can be made possible.

One end of the first joint rotation member 121b may be coupled to the first joint coupling member 121a through the first coupling bearing member 121d to enable the first rotation R1. A length adjusting member 122 may be coupled to the other end of the first joint rotating member 121b.

The first joint rotating member 121b may adjust the angle of the length adjusting member 122 by performing a first rotation R1 from the first joint coupling member 121a.

The length adjusting member 122 may be rotatably coupled to the first joint part 121 . The length adjusting member 122 is coupled to the first joint rotating member 121b of the first joint part 121 as a whole, and the first joint rotation R1 is performed from the first joint coupling member 121a. It can rotate together with the member (121b).

The length adjusting member 122 may include a linear motor 1221, a length adjusting member body 1222, a length extending member 1223, a measuring member fixing bracket 1224, and a joint fixing bracket 1225.

One end of the linear motor 1221 may be coupled to the first joint part 121 . The outside of the other end of the linear motor 1221 may be coupled to the length adjusting member body 1222, and the inside of the other end may be coupled to the length extension member 1223. The linear motor 1221 may provide a driving force for length adjustment to the length extension member 1223 coupled to the other end.

The length adjusting member body 1222 may be coupled to the linear motor 1221 . The length adjusting member body 1222 may have a hollow formed therein to accommodate a portion of the length extension member 1223 .

The length extension member 1223 may be installed inside the length adjusting member body 1222 and connected to the linear motor 1221 . The length of the length extension member 1223 may be adjusted by receiving a driving force for length adjustment from the linear motor 1221 .

The measuring member fixing bracket 1224 is coupled to the length adjusting member body 1222 and may fix the length conversion measuring member 124 coupled to the side surface of the length adjusting member body 1222 .

The measuring member fixing bracket 1224 is formed in a substantially rectangular shape, and a hollow 1224a may be formed therein. The length adjusting member body 1221 may be fitted into the hollow 1224a. A measuring member fitting portion 1224b may be connected to one end of the measuring member fixing bracket 1224 . The measuring member fitting portion 1224b may be bent in the direction of arrangement of the length conversion measuring member 124 and inserted into the length conversion measuring member 124 .

One end of the joint fixing bracket 1225 may be coupled to the length extension member 1223, and the second joint unit 123 may be coupled to the other end. The joint fixing bracket 1225 may be coupled with an end of the length conversion measuring member 124 by forming a protrusion 1225a in the direction in which the length conversion measuring member 124 is disposed.

That is, the joint fixing bracket 1225 may serve to couple the length adjusting member 122 and the second joint part 123 and connect the length adjusting member 122 and the length conversion measuring member 124 .

Accordingly, the length adjusting member 122 may be combined with the length conversion measuring member 124 as a measuring member fixing bracket 1224 and a joint fixing bracket 1225 .

The second joint part 123 may be rotatably coupled to the length adjusting member 122 . The second joint part 123 may connect the length adjusting member 122 of the multi-axis control device 120 and the magnetic field generating device 130 .

The second joint unit 123 may include a 21st joint rotation member 123a and a 22nd joint rotation member 123b. The second joint part 123 may be a general universal joint.

The twenty-first joint rotation member 123a may be coupled to the joint fixing bracket 1225 of the length adjusting member 122 . More specifically, a 21st bearing member 123a1 is installed inside the first joint rotating member 123a, and the joint fixing bracket 1225 of the 21st bearing member 123a1 and the length adjusting member 120 is coupled. can

The 21st bearing member 123a1 includes an outer circumference C1 having a first radius, an inner circumference C2 having a second radius smaller than the first radius and located inside the outer circumference C1, and an outer circumference. It may include a rotating bearing member (B) positioned between the portion (C1) and the inner circumferential portion (C2).

Accordingly, the 21st joint rotating member 123a may perform a third rotation (R3) from the length adjusting member 122 around the 21st bearing member 123a1.

One end of the 22nd joint rotating member 123b may be coupled to the 21st joint rotating member 123a through the second combined bearing member 123d, and the magnetic field generator 130 may be coupled to the other end. The second coupling bearing member 123d is installed between the 21st joint rotating member 123a and the 22nd joint rotating member 123b, and the 22nd joint rotating member 123b is provided from the 21st joint rotating member 123a. 2 rotations (R2) can be made possible.

The twenty-second joint rotating member 123b may be coupled to the magnetic field generator 130 through the second fixing part 123c. The second fixing part 123c may be a fastening means for coupling the 22nd joint rotating member 123b to the magnetic field generating device 130 .

More specifically, a 22nd bearing member 123b1 may be installed inside the 22nd joint rotating member 123b, and the 22nd bearing member 123b1 may be coupled to the second fixing part 123c.

The 22nd bearing member 123b1 includes an outer circumference C1 having a first radius, an inner circumference C2 having a second radius smaller than the first radius and located inside the outer circumference C1, and an outer circumference. It may include a rotating bearing member (B) positioned between the portion (C1) and the inner circumferential portion (C2).

Accordingly, the 22nd joint rotating member 123b may perform a fourth rotation (R4) from the second fixing part 123c around the 22nd bearing member 123b1.

That is, the second joint part 123 can rotate from the length adjusting member 122 around the 21st bearing member 123a1 and rotate from the magnetic field generator 130 around the 22nd bearing member 123b1. have.

A typical universal joint is limited to a maximum rotational angle of 30 degrees. As shown in FIG. 6, the first joint part 121 rotates within a steering angle of 30 degrees, but the second joint part 123 rotates within a steering angle greater than 30 degrees, so the magnetic field generator 130 ) is limited to rotation.

According to the micro-nano robot control system 100 according to the present embodiment, the steering angle of a general universal joint is obtained by coupling the 21st bearing member 123a1 and the 22nd bearing member 123b1 to the upper and lower ends of the second joint unit 123. can be increased up to 90 degrees.

Therefore, when the angle of the magnetic field generator 130 is adjusted, as the magnetic field generator 130 is tilted, the 21st joint rotating member 123a and the 22nd joint rotating member 123a and the 22nd joint rotating member ( When 123b) collides, the second joint part 123 is automatically rotated to a position where a 90 degree steering angle is possible by the 21st bearing member 123a1 and the 22nd bearing member 123b1, and the magnetic field generator 130 angle can be freely adjusted.

The plurality of multi-axis control devices 120 may further include a length conversion measuring member 124 .

The length conversion measuring member 124 may be coupled to the length adjusting member 122 . The length conversion measuring member 124 may be inserted into the measuring member fitting portion 1224b formed in the measuring member fixing bracket 1224 coupled to the length adjusting member main body 1222 of the length adjusting member 122 .

An end of the length conversion measuring member 124 may be coupled to the protrusion 1225a of the joint fixing bracket 1225.

The length conversion measuring member 124 may measure the length of the length adjusting member 122 . The length conversion measuring member 124 may be an ordinary potential meter.

The magnetic field generator 130 may be rotatably coupled to the plurality of multi-axis control devices 120 . The magnetic field generator 130 may generate a magnetic field to move the micro/nano robot.

Referring to FIGS. 7 and 8 , the magnetic field generator 130 may include a magnetic body body 131, a magnetic field generating coil 132, a power connection unit 133, and a cooling device connection unit 134.

The magnetic field body 131 may include a top surface, a bottom surface, and a side surface connecting the top surface and the bottom surface. A magnetic field generating coil 132 may be accommodated inside the magnetic body body 131, a power connection unit 133 may be formed on a side surface, and a cooling device connection unit 134 may be formed on an upper surface and a lower surface, respectively.

The magnetic field generating coil 132 may be accommodated inside the magnetic field body 131 . The magnetic field generating coil 132 may generate a magnetic field according to the current strength of power applied from the power connection unit 133 . The height of the micro/nano robot can be controlled according to the strength of the magnetic field generated here.

The power connector 133 may be formed on a side surface of the magnetic field body 131 . The power connection unit 133 may be connected to a power supply device (not shown) to receive power from the power supply device.

The cooling device connector 134 may include a first cooling device connector 134a formed on the lower surface of the magnetic field body 131 and a second cooling device connector 134b formed on the upper surface of the magnetic field body 131.

The first cooling device connector 134a may be connected to the cooling water supply unit 241 of the coil cooling device 240 to be described with reference to FIG. 9 to receive cooling water. The second cooling device connector 134b may be connected to the cooling water recovery unit 242 of the coil cooling device 240 to be described with reference to FIG. 9 to recover the cooling water circulating inside the magnetic field body 131 .

9 is a perspective view illustrating a micro/nano robot control system according to another embodiment of the present invention.

As shown in FIG. 9, the micro/nano robot control system 200 according to another embodiment of the present invention includes a fixed frame 210, a plurality of multi-axis control devices 220, a magnetic field generator 230, and a coil cooling device. 240, a micro-robot accommodating unit 250, and a micro-robot position measuring device 260 may be included.

The fixed frame 210, the plurality of multi-axis controllers 220 and the magnetic field generator 230 according to this embodiment are the fixed frame 110 of the micro nano robot control system 100 according to the embodiment described in FIG. , Since the configuration of the plurality of multi-axis control devices 120 and the magnetic field generator 130 is the same, detailed descriptions will be omitted.

The coil cooling device 240 may be connected to the magnetic field generating device 230 . The coil cooling device 240 may store cooling water therein and include a cooling water supply unit 241 and a cooling water recovery unit 242 .

The cooling water supply unit 241 may be connected to the magnetic field generator 230 to supply cooling water, and the cooling water recovery unit 242 may be connected to the magnetic field generator 230 to recover the cooling water.

The coil cooling device 240 may cool a magnetic field generating coil (not shown) accommodated inside the magnetic field generating device 230 . The coil cooling device 240 may cool the magnetic field generating device 230, thereby reducing frictional force due to heat generated from the magnetic field generating device 230 and extending the life of the magnetic field generating coil.

The micro-robot accommodating unit 250 may be coupled to the fixed frame 210 so as to face the projection surface of the magnetic field generating device 230 . The micro robot accommodating unit 250 may be located under the magnetic field generator 230 .

The microrobot accommodating part 250 is a container having a certain size, and the inside of the container may be filled with a specific fluid. The micro/nano robot 1 may be accommodated in a specific fluid.

The microrobot position measuring device 260 may be coupled to the fixed frame 210 to measure the position of the microrobot 1 accommodated in the microrobot accommodating unit 250 . Here, the micro-nano robot 1 moves in the height direction (Z-axis) within the micro-robot accommodating unit 250 according to the strength of the magnetic field generated by the magnetic field generator 230, and the rotation angle of the magnetic field generator 230 According to this, it can move in the horizontal direction (X-axis, Y-axis) within the microrobot accommodating unit 250 .

The microrobot position measuring device 260 may be composed of at least two and coupled to the fixed frame 210 . The micro robot position measuring device 260 includes a first position measuring device 261 for measuring the position of the micro nano robot 1 moving in the X-axis and Y-axis directions and the position of the micro nano robot 1 moving in the Z-axis direction. It may include a second position measuring device 262 for measuring .

The microrobot position measuring device 260 may be a video camera, and is not limited to the position shown in the drawings.

The micro-robot position measuring device 260 may recognize the position of the micro-nano-robot 1 in three dimensions by measuring the position of the micro-nano-robot 1 in each of the X-axis, Y-axis, and Z-axis.

Hereinafter, a method of controlling the micro nano robot 1 of the micro nano robot control system 100 according to an embodiment of the present invention will be described.

The micro nano robot control system 100 may control the three-dimensional movement of the micro nano robot 1 using one magnetic field generator 130 . The micro/nano robot control system 100 positions the micro/nano robot 1 by creating a trapping point coincident with the central axis of the magnetic field generator 130 by using the tendency of the magnet to move toward and stay at the point of maximum magnetic field. can make it

The trapping point is a single point coincident with the central axis of the magnetic field generator 130, and a magnetic field spatial distribution pointing in all directions toward the single point can be generated. The micro/nano robot 1 may be pushed and moved to a trapping point that changes according to the tilting and parallel movement of the magnetic field generating device 130 .

만큼 자기장 발생장치(130)가 회전하면 마이크로 나노 로봇(1)이

dxy 만큼 이동할 수 있다. 또한, 전류의 세기에 따라 마이크로 나노 로봇(1)이

dz 만큼 이동할 수 있다.Referring to FIG. 10, by the multi-axis control device 120

When the magnetic field generator 130 rotates as much as the micro nano robot 1

You can move as much as dxy. In addition, according to the strength of the current, the micro nano robot 1

You can move by dz.

In the drawing, the micro nano robot 1 may generate forces of Fmz, Fb, Fd, Fg, and Fmxy. Here, Fmz is the vertical magnetic force in the Z-axis direction generated by the magnetic field generator 130, Fb is the buoyancy due to the fluid filled in the microrobot accommodating part 250, and Fd is the fluid filled in the robot accommodating part 250. is the drag force, Fg is the gravitational force, and Fmxy can represent the horizontal magnetic force generated by the movement of the trapping point.

The micro-nano robot control system 100 raises and settles the micro-nano robot 1 by the difference between the vertical magnetic force (Fmz) and the gravity (Fg) generated by the magnetic field generator 130, that is, in the Z-axis direction (height). You can control movement.

When Fmz+Fb=Fg, the micro nanorobot 1 can maintain an equilibrium state at a certain height in the fluid. In addition, the micro nano robot 1 may move horizontally when the horizontal direction magnetic force Fmxy is greater than the drag force Fd of the fluid.

The micro-nano robot control system 100 may further include a main controller (not shown) for controlling the plurality of multi-axis controllers 110 . The main controller may be a general CPU (Central Processing Unit).

The main control device may control the length (L) of the length adjusting member 122 of the multi-axis control device 120 based on Equation 1 below. The main controller can control the rotation and parallel movement of the magnetic field generator 130 by adjusting the length L of the length adjusting member 122 .

(2)

(2)

(3)

(3)

Here, A is the center coordinate of six joints constituting the second joint part 123, B is the center coordinate of six joints constituting the first joint part 121, rot is a rotation matrix, and Mov is a translation vector , In the rotation matrix rot, (θ) is the roll of the second joint part 123, (ф) is the pitch of the second joint part 123, and Movx is x of the second joint part 123 The axis movement position, Movy, may mean the y-axis movement position of the second joint part 123, and Movz may mean the z-axis movement position of the second joint part 123.

In the second joint unit 123, the coordinates of the corner points of the 21st joint, the 22nd joint, the 23rd joint, the 24th joint, the 25th joint, and the 26th joint are rotated along the X axis and Y by the desired rotation angle by the rotation matrix rot. The axis is rotated, and each corner point coordinate can be moved by the translation vector Mov.

Here, the length of the length adjusting member 122 can be adjusted by the length between the coordinate position of the moved second joint part 123 and the coordinate position of the first joint part 121 connected to each other.

Coordinates of the second joint part 123 and the first joint part 121 may be set as Table 1 and Table 2, respectively.

X Y Z Joint 21 131.557 47.8828 530 Joint 22 -24.107 137.843 530 Joint 23 -107.246 89.9903 530 Joint 24 -107.246 -89.9903 530 Joint 25 -24.107 - 137.843 530 Joint 26 131.557 -47.8828 530

X Y Z Joint 11 126.397 106.06 0 Joint 12 28.6519 162.493 0 Joint 13 -155.049 56.4333 0 Joint 14 -155.049 -56.4333 0 Joint 15 28.6519 -162.493 0 Joint 16 126.397 -106.06 0

In Equation 1, Equation (1) calculates the length (L) of the length adjusting member 122 of the multi-axis control device 120 without considering the first joint part 121 and the second joint part 123, which are universal joints. Indicates the formula to calculate.

However, in the actual multi-axis controller 120, the magnetic field generating device 130 moves by the first joint part 121 and the second joint part 123, which are universal joints. Accordingly, the position of the first joint part 121 and the second joint part 123 should be corrected in the opposite direction by the shifted position.

)는 아래의 수학식 2를 기초로 산출될 수 있다.The length of the length adjusting member 122 of the final multi-axis control device 120 according to the correction (

) can be calculated based on Equation 2 below.

(5)

(5)

(6)

(6)

(7)

(7)

) (8)

) (8)

는 수학식 1의 식 (1)에서 제2 조인트부(123)의 회전과 평행 이동에 대한 수식이고,

,

,

는 제2 조인트부(123) 각각의 x, y, z 좌표이고,

는 자기장 발생장치(130)의 이동 거리이고,

은 제2 조인트부(123)의 최종 좌표를 의미할 수 있다.From here

Is a formula for rotation and parallel movement of the second joint part 123 in Equation (1) of Equation 1,

,

,

Is the x, y, z coordinates of each of the second joint parts 123,

is the moving distance of the magnetic field generator 130,

may mean the final coordinates of the second joint part 123 .

Although the above has been described with reference to one embodiment of the present invention, those skilled in the art can make various modifications to the present invention within the scope not departing from the spirit and scope of the present invention described in the claims below. It will be appreciated that modifications and changes may be made.

100, 200: micro nano robot control system
110, 210: fixed frame
120, 220: multi-axis control device
130, 230: magnetic field generator
240: Coil cooler
250: micro robot receiving unit
260: micro robot position measuring device
1: micro nano robot

Claims (6)

fixed frame;
a plurality of multi-axis control devices including a first joint part coupled to the fixed frame, a length adjusting member rotatably coupled to the first joint part, and a second joint part rotatably coupled to the length adjusting member;
a magnetic field generator rotatably coupled to the plurality of multi-axis control devices; and
A container having a certain size, the inside of the container being filled with a specific fluid to accommodate the micro/nano robot, and a micro robot accommodating part coupled to the fixing frame below the magnetic field generating device to face the projection surface of the magnetic field generating device. do,
The first joint part includes a first joint coupling member coupled to the fixed frame and a first joint rotation member rotatably coupled to the first joint coupling member as a first coupled bearing member,
The second joint unit includes a 21st joint rotating member including a 21st bearing member coupled to the length adjusting member and a 22nd combined bearing member coupled to the 21st joint rotating member and coupled to the magnetic field generator. A micro-nano robot control system capable of rotating 90 degrees, including a 22nd joint rotation member including a bearing member. delete According to claim 1,
Each of the plurality of multi-axis control devices,
Micro-nano robot control system further comprising a length conversion measuring member coupled to the length adjusting member. According to claim 1,
Micro nano robot control system further comprising a coil cooling device connected to the magnetic field generator. delete According to claim 1,
The micro-nano robot control system further comprising a micro-robot position measuring device coupled to the fixed frame to measure a position of the micro-nano robot.

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