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随着微机器人的发展,磁性微机器人凭借其能源供给的优势得到广泛应用。由于研究对象不断向微细化发展,本文结合显微镜环境设计了一种用于磁性微机器人的外磁场调控系统。本系统主要由上位机、磁场控制模块和图像显示模块三部分构成。磁性微机器人是通过线圈装置产生的外磁场来控制的,本文设计的线圈装置能够在线圈中心40mm×30mm的平面区域产生0~1m T的沿水平方向的静磁场和频率为0~50Hz、幅值0~1m T的旋转磁场,能够实现对磁性微机器人直线运动和旋转运动的控制。本文使用BX53显微镜对磁性微机器人的运动进行放大,实现其运动的实时显示和追踪。本文还编写了一套控制软件来实现上述控制功能和实时显示功能。
With the development of micro-robots, magnetic micro-robots are widely used by virtue of their energy supply advantages. Due to the continuous development of miniaturization of research objects, this paper designed a magnetic field control system for magnetic micro-robot based on the microscope environment. The system mainly by the host computer, magnetic field control module and image display module consists of three parts. The magnetic micro-robot is controlled by the external magnetic field generated by the coil device. The coil device designed in this paper can generate a static magnetic field along the horizontal direction of 0 to 1 mT and a frequency of 0 to 50 Hz in a planar area of 40 mm × 30 mm in the center of the coil. The value of 0 ~ 1m T of the rotating magnetic field, magnetic micro-robot can achieve linear motion and rotational motion control. In this paper, we use BX53 microscope to amplify the movement of the magnetic micro-robot to realize the real-time display and tracking of its movement. This article also wrote a set of control software to achieve the above control functions and real-time display capabilities.