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微抓手机器人与终端电永磁器人协作驱动

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

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

Micromachines
|June 27, 2024
PubMed
概括
此摘要是机器生成的。

本研究介绍了一种使用电磁和永久磁铁协作进行增强控制和操作范围的新型微型抓手机器人 (MGR). 这种先进的磁性微型抓手可以为最少的侵入性手术提供精确的操纵.

关键词:
执行系统的执行系统.磁性驱动的启动方式这是一个微型抓器.软机器人的软机器人

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科学领域:

  • 机器人技术 机器人技术 机器人技术
  • 生物医学工程 生物医学工程
  • 材料科学 材料科学 材料科学

背景情况:

  • 磁性微型抓手为微妙的任务提供无的执行和精确的操纵.
  • 现有的外部磁场系统面临效率的局限性,原因是与microgrippers的大小差异.

研究的目的:

  • 开发一个具有改进的控制和操作范围的微型抓手机器人 (MGR).
  • 为了克服传统的磁性微型抓手启动方法的局限性.

主要方法:

  • 开发了一种使用协作端电磁和永久磁铁系统的MGR.
  • 通过调节微线圈电流来控制磁场的方向和强度,以精确地启动握把器.
  • 在复杂的模拟环境中测试了MGR性能,并用于专业任务,如电路连接.

主要成果:

  • 在复杂的,受限制的环境中,MGR表现出灵活的控制和高度的适应性.
  • 在模拟的人体腔内实现平面和反重力抓取和运输物体.
  • 成功执行专业任务,包括在狭小空间中连接电路.

结论:

  • 该MGR的电磁和永久磁铁系统的结合提高了操作范围和控制精度.
  • 该MGR显示出在体内应用的巨大潜力,包括瘤采样和手术辅助.
  • 这项技术为难以到达的地区的微创手术提供了安全可控的解决方案.