Figure 2
From: Magnetic microrobot and its application in a microfluidic system
Force analysis of the microrobot suspends in liquid. (a) Side view of the microrobot. The forces acting on the microrobot in the horizontal direction are magnetic force and viscous force. In the vertical direction, buoyancy and gravity are equal when the microrobot is suspended in the channel. (b) Top view of the microrobot. Magnetic force can be decomposed into two components in the x, y direction.