Hannouch, Ralf (Université de technologie de Compiègne), KHAN, Muneeb Ullah (UNIVERSITE DE TECH DE COMPIEGNE), Petit, Laurent (Université de technologie de Compiègne), AL-HAJJAR, HANI (UNIVERSITE DE TECH DE COMPIEGNE)

An Impact-Driven Micro-Robot Based on Electromagnetic Digital Actuation Principle

Scheduled for presentation during the Regular Session "Systems Design and Integration" (WeCT3), Wednesday, July 16, 2025, 17:10−17:30, Room 107

Joint 10th IFAC Symposium on Mechatronic Systems and 14th Symposium on Robotics, July 15-18, 2025, Paris, France

This information is tentative and subject to change. Compiled on July 16, 2025

Abstract

This study presents an electromagnetically actuated microrobot. The architecture combines planar electromagnetic coils and a cylindrical permanent magnet to achieve impact-driven motion. Analytical models were developed to predict force dynamics and displacement during actuation cycles. Experimental validation demonstrated a step size of 0.708mm per cycle for an injected current of 0.3A, with a total actuation time of 65 ms. Pre-calculated timing ensured smooth rebounds and consistent operations, while the obtained results provided a good agreement between theoretical predictions and experimental data. The proposed actuator highlights its potential in applications requiring precise motion with low power consumption.