| 摘要 |
PURPOSE: A drilling microrobot system using a rotating field having precession is provided to simultaneously implement control of the direction and three-dimensional location of a microrobot and drilling work through the axial rotation of the microrobot. CONSTITUTION: A drilling microrobot system using a rotating field having precession comprises First to third pairs of Helmholtz coils and a screw-shaped microrobot(110). The Helmholtz coil pairs are respectively fixed around x-, y-, and z-axes. The microrobot is located in the space of a three-dimensional electromagnetic driver, including the x-, y-, and z-axes and moves to the desired direction using the Helmholtz coil pairs. When the microrobot meets a blocked part, current for combined rotational and precession motion is input to the microrobot and the microrobot implements drilling work.
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