Reconfigurable Disk-like Microswarm under a Sawtooth Magnetic Field

Swarming robotic systems, which stem from insect swarms in nature, exhibit a high level of environmental adaptability and enhanced tasking capabilities for targeted delivery and micromanipulation. Here, we present a strategy that reconfigures paramagnetic nanoparticles into microswarms energized by a sawtooth magnetic field. A rotary-stepping magnetic-chain mechanism is proposed to address the forming principle of disk-like swarms. Based on programming the sawtooth field, the microswarm can perform reversible transformations between a disk, an ellipse and a ribbon, as well as splitting and merging. In addition, the swarms can be steered in any direction with excellent maneuverability and a high level of pattern stability. Under accurate manipulation of a magnetic microswarm, multiple microparts with complicated shapes were successfully combined into a complete assembly. This reconfigurable swarming microrobot may shed light on the understanding of complex morphological transformations in living systems and provide future practical applications of microfabrication and micromanipulation.Keywords:microrobot;disk-like swarm;sawtooth magnetic field;microassembly