The Spherical-Actuator-Magnet Manipulator: A Permanent-Magnet Robotic End-Effector

A variety of magnetic devices can be manipulated remotely using a single permanent "actuator" magnet positioned in space by a robotic manipulator. This paper describes the spherical-actuator-magnet manipulator (SAMM), which is designed to replace or augment the singularity-prone spherical...

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Bibliographic Details
Published in:IEEE transactions on robotics 2017-10, Vol.33 (5), p.1013-1024
Main Authors: Wright, Samuel E., Mahoney, Arthur W., Popek, Katie M., Abbott, Jake J.
Format: Article
Language:English
Subjects:
Actuation
Actuators
Axes of rotation
Dipoles
Extended Kalman filter
Hall effect
Kinematics
Magnetic devices
Magnetic dipole
Magnetic levitation
magnetic manipulation
Magnetic moments
Manipulators
medical robotics
microrobotics
Permanent magnets
Robot arms
spherical mechanism
Wrist
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Summary:A variety of magnetic devices can be manipulated remotely using a single permanent "actuator" magnet positioned in space by a robotic manipulator. This paper describes 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 the heading of its magnet's dipole and to enable its magnet to be rotated continuously about any axis of rotation. The SAMM performs closed-loop control of its dipole's heading using field measurements obtained from Hall-effect sensors as feedback, combined with modeled dynamics, using an extended Kalman filter. We describe the operation and construction of the SAMM, develop and characterize controllers for the SAMM's spherical magnet, and demonstrate remote actuation of an untethered magnetic device in a lumen using the SAMM.
ISSN:1552-3098
1941-0468
DOI:10.1109/TRO.2017.2694841