Download or read book Untethered Magnetic and Acoustic Micromanipulation for Microrobotic Assembly in Dry Workspace written by Omid Youssefi and published by . This book was released on 2019 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Untethered robotic micromanipulators are devices that physically interact with components on the microscale (sizes less than a few millimeters), and usually within a remote workspace, that enhance the precision and accuracy of manipulation by an unaided hand. Addressing the low levels of dexterity, precise kinematics and dynamics, and versatility are the current limitations that have been the focus of recent studies. The two novel methods presented in this thesis use magnetic and acoustic fields to achieve dexterous and precise micromanipulation characteristics to tackle the current gaps. A magneto-acoustic system is developed for magnetic actuation, with sub-body-length precision, of magnetic microrobots for dry surface and levitated contactless micromanipulations and the performances of each method are characterized. The capabilities of both methods are shown by real-world microassembly demonstration for assembly of microscale-sized optical components. For the first time, a permanent magnet sphere was levitated open-loop with small magnetic and acoustic field magnitudes.