外置永磁体独立控制两磁性机器人的可行性研究

Joshua Davy, Tomas da Veiga, G. Pittiglio, J. Chandler, P. Valdastri
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引用次数: 0

摘要

多个磁性机器人在同一工作空间内独立操作的能力将增加这些系统的临床潜力,从而允许协同操作。在这项工作中,我们研究了使用外部永磁体驱动两个磁性机器人在同一工作空间内工作的可行性。与基于对电磁线圈的驱动系统不同,使用多个永磁体具有更适合临床环境的大工作空间的优势。在这项工作中,我们提出了一个优化程序,能够为外部磁铁生成所需的姿势,以控制两个磁性机器人的位置和方向。我们的研究表明,在15cm的距离下,磁性机器人之间可以实现最小的耦合(3.9%的串扰),每个机器人嵌入5mm直径,5mm长度的钕铁硼磁铁。在较小的距离上,我们观察到独立控制机器人扭矩的能力下降,但即使机器人对齐,力仍然可以实现独立控制。我们在两个磁性机器人的模拟中测试了我们开发的控制系统,这些机器人遵循预先规划的轨迹,接近(60毫米),显示平均位置误差为8.7毫米,平均角度误差为16.7°。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Independent Control of Two Magnetic Robots using External Permanent Magnets: A Feasibility Study
The ability to have multiple magnetic robots operate independently in the same workspace would increase the clinical potential of these systems allowing collaborative operation. In this work, we investigate the feasibility of actuating two magnetic robots operating within the same workspace using external permanent magnets. Unlike actuation systems based on pairs of electromagnetic coils, the use of multiple permanent magnets comes with the advantage of a large workspace which better suits the clinical setting. In this work, we present an optimization routine capable of generating the required poses for the external magnets in order to control the position and orientation of two magnetic robots. We show that at a distance of 15cm, minimal coupling between the magnetic robots can be achieved (3.9% crosstalk) each embedded with 5mm diameter, 5mm length NdFeB magnets. At smaller distances, we observe that the ability to independently control the robot torques decreases, but forces can still achieve independent control even with alignment of the robots. We test our developed control system in a simulation of two magnetic robots following pre-planned trajectories in close proximity (60 mm) showing a mean positional error of 8.7 mm and mean angular error of 16.7°.
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