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Propulsion Mechanisms in Magnetic Microrobotics: From Single Microrobots to Swarms
Summary
This review examines the propulsion mechanisms of magnetic microrobots, from individual units to coordinated swarms, including their structural design and control methods. Researchers discuss how these tiny robots can be directed using external magnetic fields for tasks like targeted drug delivery and water purification. The technology has potential applications for environmental cleanup, including removing microplastics and other pollutants from water.
Microrobots with different structures can exhibit multiple propulsion mechanisms under external magnetic fields. Swarms dynamically assembled by microrobots inherit the advantages of single microrobots, such as degradability and small dimensions, while also offering benefits like scalability and high flexibility. With control of magnetic fields, these swarms demonstrate diverse propulsion mechanisms and can perform precise actions in complex environments. Therefore, the relationship between single microrobots and their swarms is a significant area of study. This paper reviews the relationship between single microrobots and swarms by examining the structural design, control methods, propulsion mechanisms, and practical applications. At first, we introduce the structural design of microrobots, including materials and manufacturing methods. Then, we describe magnetic field generation systems, including gradient, rotating, and oscillating magnetic fields, and their characteristics. Next, we analyze the propulsion mechanisms of individual microrobots and the way microrobots dynamically assemble into a swarm under an external magnetic field, which illustrates the relationship between single microrobots and swarms. Finally, we discuss the application of different swarm propulsion mechanisms in water purification and targeted delivery, summarize current challenges and future work, and explore future directions.
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