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Microgripper Robot with End Electropermanent Magnet Collaborative Actuation.

Yiqun Zhao1,2, Dingwen Tong1,2, Yutan Chen2

  • 1School of Mechanical and Electrical Engineering, Soochow University, Suzhou 215131, China.

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|June 27, 2024
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Summary
This summary is machine-generated.

This study presents a novel microgripper robot (MGR) using electromagnetic and permanent magnet collaboration for enhanced control and operational range. This advanced magnetic microgripper offers precise manipulation for minimally invasive procedures.

Keywords:
actuation systemmagnetic actuationmicrogrippersoft robot

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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.