Collaborative Magnetic Manipulation via Two Robotically Actuated Permanent Magnets

Giovanni Pittiglio; Michael Brockdorff; Tomas da VeigaJoshua DavyJames Henry ChandlerPietro Valdastri

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Collaborative Magnetic Manipulation via Two Robotically Actuated Permanent Magnets

机译：Collaborative Magnetic Manipulation via Two Robotically Actuated Permanent Magnets

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Magnetically actuated robots have proven effective in several applications, specifically in medicine. However, generating high actuating fields with a high degree of manipulability is still a challenge, especially when the application needs a large workspace to suitably cover a patient. The presented work discusses a novel approach for the control of magnetic field and field gradients using two robotically actuated permanent magnets. In this case, permanent magnets—relative to coil-based systems—have the advantage of larger field density without energy consumption. We demonstrate that collaborative manipulation of the two permanent magnets can introduce up to three additional Degrees of Freedom (DOFs) when compared to single permanent magnet approaches (five DOFs). We characterized the dual-arm system through the measurement of the fields and gradients and show accurate open-loop control with a 13.5% mean error. We then demonstrate how the magnetic DOFs can be employed in magnetomechanical manipulation, by controlling and measuring the wrench on two orthogonal magnets within the workspace, observing a maximum crosstalk of 6.1% and a mean error of 11.1%.

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《IEEE Transactions on Robotics: A publication of the IEEE Robotics and Automation Society》 |2023年第2期|1407-1418|共12页
作者
Giovanni Pittiglio; Michael Brockdorff; Tomas da VeigaJoshua DavyJames Henry ChandlerPietro Valdastri;
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作者单位

STORM Lab, Institute of Autonomous Systems and Sensing, School of Electronic and Electrical Engineering, University of Leeds, Leeds, U.K.;

Department of Cardiovascular Surgery, Boston Children's Hospital, Harvard Medical School, Boston, MA, USA|STORM Lab, Institute of Autonomous Systems and Sensing, School of Electronic and Electrical Engineering, University of Leeds, Leeds, U.K.;

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原文格式 PDF
正文语种英语
中图分类机器人技术;
关键词
Magnetomechanical effects; Magnetic separation; Magnetic resonance imaging; Coils; Permanent magnets; Sensors; Robot sensing systems;

Collaborative Magnetic Manipulation via Two Robotically Actuated Permanent Magnets

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