Multifunctional flexible magnetic drive gripper for target manipulation in complex constrained environments.

Area of Science:

• Robotics
• Biomedical Engineering
• Materials Science

Background:

• Soft actuators are crucial for remote manipulation in constrained environments, particularly in medicine.
• Existing magnetic soft actuators primarily offer position control, limiting operational flexibility.
• Advanced manipulation capabilities are needed for complex tasks within confined spaces.

Purpose of the Study:

• To develop a multifunctional magnetic soft gripper for versatile operations in constrained spaces.
• To enable precise remote control and manipulation of various target shapes and materials.
• To enhance capabilities for applications like minimally invasive surgery and hazardous material handling.

Main Methods:

• A flexible magnetic drive gripper was designed with adjustable internal pressure for suction, injection, and smooth surface target transport.
• Slit structures in the environment and external permanent magnet manipulation were used to control clamping and release.
• The gripper demonstrated the ability to grasp linear, flaked, and polyhedral objects.

Main Results:

• The magnetic soft gripper achieved remote-controlled steering and manipulation within complex constrained spaces.
• Multifunctional capabilities including suction, injection, and versatile target clamping were demonstrated.
• Successful operation on targets of diverse shapes (linear, flaked, polyhedral) was confirmed.

Conclusions:

• The developed magnetic soft gripper offers unprecedented flexibility and multifunctionality for remote operations.
• It presents new possibilities for precise object transportation and manipulation in challenging environments.
• Potential applications include tools for hazardous drug handling and surgical instruments for human body cavities.