Microgripper Robot with End Electropermanent Magnet Collaborative Actuation

Area of Science:

• Robotics
• Biomedical Engineering
• Materials Science

Background:

• Magnetic microgrippers offer untethered actuation and precise manipulation for delicate tasks.
• Existing external magnetic field systems face efficiency limitations due to size disparity with microgrippers.

Purpose of the Study:

• To develop a microgripper robot (MGR) with improved control and operational range.
• To overcome the limitations of conventional magnetic microgripper actuation methods.

Main Methods:

• Developed an MGR utilizing a collaborative end electromagnetic and permanent magnet system.
• Controlled magnetic field direction and strength by adjusting microcoil current for precise gripper actuation.
• Tested MGR performance in complex simulated environments and for specialized tasks like circuit connection.

Main Results:

• The MGR demonstrated flexible control and high adaptability in complex, constrained environments.
• Achieved planar and antigravity grasping and transportation of objects within simulated human cavities.
• Successfully performed specialized tasks, including circuit connection in confined spaces.

Conclusions:

• The MGR's combined electromagnetic and permanent magnet system enhances operational range and control precision.
• The MGR exhibits significant potential for in vivo applications, including tumor sampling and surgical assistance.
• This technology offers a safe and controllable solution for minimally invasive procedures in hard-to-reach areas.