JLCPCB Platform Arduino Shield SMD

magnetic-microrobot

Magnetic microrobot manipulation system that adapts a flex PCB platform inspired by the Hackaday “2D Stepper Motor Etched on PCB” project.

Overview

This repository contains code, schematics, and CAD files for a mm-scale magnetic robot control platform designed for open and closed loop trajectory execution, computer vision robot tracking, and micromanipulation.

The system uses a two-layer flex PCB with orthogonal serpentine traces powered by two stepper motor drivers. The resulting configuration generates magnetic fields that allow a mm-scale magnet placed on the PCB to be manipulated in 8 directions.

Features

• Live tracking of robot and obstacle positions for closed-loop control and image processing
• Direction control and motor driver actuation via Arduino serial communication
• MATLAB A* pathfinding algorithm and visualization for trajectory planning and obstacle avoidance

Included Files

• FLEX PCB Gerber Files for manufacturing
• DXF file for acrylic base with cutouts for PCB mounting and wiring
• STL files for obstacles and manipulation payloads

Requirements

• MATLAB Support Package for USB Webcams
• MATLAB Image Processing Toolbox

File Organization

• Upload microbot_multidirection_serial.ino to Arduino Uno

Hardware Components

• Flex PCB with stiffener
• N52 disk magnets: 1mm x 0.5mm (4 ct) and 3mm x 1mm (1 ct)
• Arduino Uno
• 170 pin breadboard
• A4988 Stepper Motor Drivers (2 ct)
• 3/16" thick acrylic sheet: each base has approximate dimensions 4.2" x 5.9"
• M3 nuts and bolts for mounting
• Webcam & webcam stand

Wiring Schematic

Default pin connections for Arduino, motor drivers, and PCB also available in SetupSchematic.svg. Drivers are full-stepping, which results in the smoothest motion.