Construction and operation of a 3-D Helmholtz coil to manipulate magnetic robots through resonance vibrations using rotating magnetic fields

Abstract

Most robotics systems currently in use rely on either an internal battery that is intermittently charged, or outside cables to provide power to local systems. As robots become smaller and approach micrometer or nanometer scales, sustaining battery and circuit technology to fit these size constraints become increasingly challenging. Magnetic origami robots give two major benefits. By integrating permanent magnetics within origami structures, magnetic fields can be used to extend or contract these robots and achieve both control and power transmission wirelessly. My research involves a twofold approach of both mechanical design and robotics testing. The first section of my Senior Thesis centers around constructing a 3-dimensional Helmholtz coil project that can manipulate magnetic objects such as foldable origami robots without direct contact. It will improve upon the existing device in use by providing a larger workspace volume inside the coil while generating an equally strong magnetic field of 60 mili-Teslas. The second section of my Senior Thesis revolves around using the current coil system to explore the resonance behavior of origami robots based on the Kresling origami cell. This is achieved by applying a continuous rotating magnetic field. At specific frequencies, we can cause these Kresling structures to collapse or expand through oscillation of a permanent magnet attached to the robot In this way, the robot can be actuated while consuming less power compared to a conventional static magnetic field approach. Because the resonance behavior is dependent on the material properties of the Kresling Robots, this research can pave the way for future research on isolated control of these structures across a variety of applications.