TY - GEN
T1 - QuadMag: A Mobile-Coil System With Enhanced Magnetic Actuation Efficiency and Dexterity
AU - Yang, Lidong
AU - Zhang, Moqiu
AU - Yang, Zhengxin
AU - Yang, Haojin
AU - Zhang, Li
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023/5
Y1 - 2023/5
N2 - Magnetic field is a favorable power source for actuation and control of micro-/nanorobots. To overcome the fast decay of magnetic field for large-workspace microrobotic actuation, mobile field source-based systems have been proposed. In this work, we report a new mobile-coil system, i.e., QuadMag. It consists of four electromagnetic coils, whose motion is actuated by a parallel mechanism. Compared to previous systems with three mobile coils, e.g., DeltaMag, the additional coil in the QuadMag increases the degree-of-freedom (DoF) for magnetic control. However, to control QuadMag, new control methods should be developed for the over-constrained parallel mechanism and for the field/force of the four coils. We derive the Jacobian matrix for the differential motion of the parallel mechanism and then formulate the field, force and simultaneous field and force control methods for magnetic actuation. Comparative experiments validate the enhanced actuation efficiency when controlling torque-driven helical microrobots. Moreover, the magnetic actuation dexterity is also enhanced by the additional coil. We conduct simulated navigation experiments and prove the actuation capability of QuadMag for 3D force-driven microrobot navigation with controlled robot orientation.
AB - Magnetic field is a favorable power source for actuation and control of micro-/nanorobots. To overcome the fast decay of magnetic field for large-workspace microrobotic actuation, mobile field source-based systems have been proposed. In this work, we report a new mobile-coil system, i.e., QuadMag. It consists of four electromagnetic coils, whose motion is actuated by a parallel mechanism. Compared to previous systems with three mobile coils, e.g., DeltaMag, the additional coil in the QuadMag increases the degree-of-freedom (DoF) for magnetic control. However, to control QuadMag, new control methods should be developed for the over-constrained parallel mechanism and for the field/force of the four coils. We derive the Jacobian matrix for the differential motion of the parallel mechanism and then formulate the field, force and simultaneous field and force control methods for magnetic actuation. Comparative experiments validate the enhanced actuation efficiency when controlling torque-driven helical microrobots. Moreover, the magnetic actuation dexterity is also enhanced by the additional coil. We conduct simulated navigation experiments and prove the actuation capability of QuadMag for 3D force-driven microrobot navigation with controlled robot orientation.
UR - http://www.scopus.com/inward/record.url?scp=85168660039&partnerID=8YFLogxK
U2 - 10.1109/ICRA48891.2023.10161290
DO - 10.1109/ICRA48891.2023.10161290
M3 - Conference article published in proceeding or book
AN - SCOPUS:85168660039
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 4696
EP - 4702
BT - Proceedings - IEEE International Conference on Robotics and Automation ICRA 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2023 IEEE International Conference on Robotics and Automation, ICRA 2023
Y2 - 29 May 2023 through 2 June 2023
ER -