TY - GEN
T1 - DeltaMag: An electromagnetic manipulation system with parallel mobile coils
AU - Yang, Lidong
AU - Du, Xingzhou
AU - Yu, Edwin
AU - Jin, Dongdong
AU - Zhang, Li
N1 - Funding Information:
This work was supported by the RGC General Research Fund (GRF) with Project No. 14209514, 14203715 and 14218516 funded by the Research Grants Council (RGC) of Hong Kong and the ITF project with Project No. ITS/440/17FP funded by the HKSAR Innovation and Technology Commission (ITC), and The Chinese University of Hong Kong-Shanghai Jiao Tong University Joint Research Fund with Project No. 4750352.
Publisher Copyright:
© 2019 IEEE.
PY - 2019/5
Y1 - 2019/5
N2 - In this paper, a novel magnetic manipulation system using mobile coils for remote actuation of magnetic untethered devices in an enlarged workspace is proposed and studied. A parallel mechanism is implemented to actuate the mobile coils. A proof-of-concept prototype is designed and constructed, namely the DeltaMag, which includes three electromagnetic coils for generating magnetic fields and three motors for actuation of the coils. It has good space utilization: ratio between the diameter of the workspace and the diameter of the whole prototype reaches 0.7.A calibrated mathematical model is developed for the field distribution of a single coil, which has an average error of 8.75%. Then, we introduce a calculation method for the 3D magnetic field at any working position for the configuration of multiple parallel mobile coils. Moreover, an embedded system is established for actuating the parallel mechanism, whose pose is fed back via serial communication for magnetic field computation. A vision based approach is developed for closed-loop control of the parallel mechanism. Furthermore, experiments demonstrate the capabilities of the DeltaMag for manipulation of a magnetic catheter mock-up and a magnetic capsule mock-up in a workspace with a diameter more than 200 mm.
AB - In this paper, a novel magnetic manipulation system using mobile coils for remote actuation of magnetic untethered devices in an enlarged workspace is proposed and studied. A parallel mechanism is implemented to actuate the mobile coils. A proof-of-concept prototype is designed and constructed, namely the DeltaMag, which includes three electromagnetic coils for generating magnetic fields and three motors for actuation of the coils. It has good space utilization: ratio between the diameter of the workspace and the diameter of the whole prototype reaches 0.7.A calibrated mathematical model is developed for the field distribution of a single coil, which has an average error of 8.75%. Then, we introduce a calculation method for the 3D magnetic field at any working position for the configuration of multiple parallel mobile coils. Moreover, an embedded system is established for actuating the parallel mechanism, whose pose is fed back via serial communication for magnetic field computation. A vision based approach is developed for closed-loop control of the parallel mechanism. Furthermore, experiments demonstrate the capabilities of the DeltaMag for manipulation of a magnetic catheter mock-up and a magnetic capsule mock-up in a workspace with a diameter more than 200 mm.
UR - http://www.scopus.com/inward/record.url?scp=85071447303&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2019.8793543
DO - 10.1109/ICRA.2019.8793543
M3 - Conference article published in proceeding or book
AN - SCOPUS:85071447303
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 9814
EP - 9820
BT - 2019 International Conference on Robotics and Automation, ICRA 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 International Conference on Robotics and Automation, ICRA 2019
Y2 - 20 May 2019 through 24 May 2019
ER -