磁场控制与双机器人可调节的磁极效应器
Kiana Abolfathi1, Jiacheng Zhu1, James H Chandler2
1School of Computer Science and Electronic Engineering, University of Essex, Colchester, UK.
Communications engineering
|March 3, 2026
概括
本研究介绍了一种可调节的磁端效应器 (TME),用于医疗应用中的精确远程磁控. TME提供了增强的现场控制,用于无线操纵微型设备,克服工作空间的挑战.
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
- 磁力学 在磁力学方面.
背景情况:
- 磁性操纵在医学上提供了远程控制的潜力.
- 在大型工作空间中,精确地产生磁场是一个重大挑战.
研究的目的:
- 引入一个自适应的机器人端效应器,即可调节的磁性端效应器 (TME).
- 启用空间可控制的磁场,用于无线操纵微型医疗设备.
主要方法:
- 在TME中集成永久磁铁,用于精确的磁控.
- 利用有限元 (FEM) 模拟和实验来验证开/关场切换.
- 通过模拟优化关键设计参数 (磁铁大小,材料,排列).
- 开发了一个基于空间,旋转和磁性数据的自适应控制的人工神经网络 (ANN).
主要成果:
- 实现了可靠的开启/关闭场开关,平均误差为7.2%.
- 演示了概念验证应用,包括引导磁载体,塑造软机器人和指导纳米粒子群.
- 双TME配置扩大了操纵工作空间,并实现了动态场方向切换.
结论:
- 在微妙的医疗操作中,TME提供了增强的磁场控制.
- 适应性控制系统和双TME配置显著提高了医疗机器人的系统适用性.
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