Diagonally addressed micro-robot system

A method of operating a circuit-driven micro-robot system, the method comprising:

• supplying quadrature drive currents to addressing traces disposed on a printed circuit board (PCB), the addressing traces being oriented diagonally relative to control-zone and PCB boundaries;
• generating magnetic fields that interact with a permanent-magnet array of a micro-robot positioned on the PCB;
• and
• propelling the micro-robot in planar directions using the addressing traces, wherein the diagonal orientation of the addressing traces aligns a direction of maximum planar propulsion force with directions parallel and perpendicular to the PCB boundaries.

A micro-robot system comprising:

• a rectangular printed circuit board (PCB) including an array of independent control zones, each control zone comprising a least four sets of diagonal addressing traces, all of which oriented at approximately 45° relative to edges of the PCB;
• vias electrically coupling the diagonal traces to driver electronics on one side of the PCB;
• a micro-robot oriented on an opposite side of the PCB, the micro-robot including a checkerboard permanent-magnet array configured to be driven by magnetic fields produced by the diagonal traces;
• and
• the driver electronics configured to apply quadrature drive signals to the diagonal traces to propel the micro-robot, wherein the diagonal orientation of the addressing traces aligns a direction of maximum planar propulsion force with directions parallel and perpendicular to PCB and control zone boundaries.