Electromagnetic Actuation (EMA) system is one of the typical methods to manipulate micro- or nanoscopic magnetic cargos which can be utilized for drug delivery, non- or minimally-invasive therapy and diagnosis, and other biomedical applications. Varying the position of the magnetic cores (adjustable cores), the EMA system can encompass a wide range of workspace’ sizes and magnetic force magnitude. This leads to the capability of the manipulation of magnetic microrobots of various sizes in one EMA system and thus cost efficiency. In addition, a magnetic core with a sharp-shaped tip is adopted for an enhanced magnetic field. However, because of the sharp-shaped tip, the magnetic field in the workspace is distorted leading to misguided manipulation. To avoid misguided manipulation, microrobot's Drivable Area (DA) is defined and analyzed by Finite Element Method (FEM) and validated experimentally. The microrobot can be guided as desired inside the DA but not outside the DA. Considering the DA, the capability of manipulation of microrobot is guaranteed.
