A spherical-magnet end-effector for robotic magnetic manipulation
Samuel E. Wright, Arthur W. Mahoney, Katie M. Popek, Jake J. Abbott
Abstract
A variety of magnetic devices can be manipulated remotely using a single permanent “actuator” magnet positioned in space by a robotic manipulator. This paper presents the spherical-actuator-magnet manipulator (SAMM), which is designed to replace or augment the singularity-prone spherical wrist used by prior permanent-magnet manipulation systems. The SAMM uses three omniwheels to enable holonomic control of a spherical magnet's heading and enable the magnet's instantaneous axis-of-rotation to be set arbitrarily. The SAMM performs closed-loop control of its dipole using field measurements obtained from Hall-effect sensors. We describe the operation and construction of the SAMM, develop and characterize a controller for the SAMM's spherical magnet, and demonstrate remote actuation of an untethered magnetic device in a lumen.
BibTeX
@inproceedings{icra2015_asphericalmagnet,
title = {A spherical-magnet end-effector for robotic magnetic manipulation},
author = {Samuel E. Wright and Arthur W. Mahoney and Katie M. Popek and Jake J. Abbott},
booktitle = {ICRA 2015},
year = {2015}
}