Design and Testing of a Hollow Continuum Magnetic Millirobot with Multimodal Motion
Magnetic continuum millirobots have presented outstanding potential in ultrahigh-precision engineering including minimally invasive surgery, due to their flexible mechanical structures and dexterous manipulation. Traditional continuum millirobots exhibit limited cargo-loading capacity, which restric...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2022-09-01
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| Series: | Actuators |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2076-0825/11/10/269 |
| _version_ | 1797476386824257536 |
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| author | Yuanhe Chen Zichen Xu Qingsong Xu |
| author_facet | Yuanhe Chen Zichen Xu Qingsong Xu |
| author_sort | Yuanhe Chen |
| collection | DOAJ |
| description | Magnetic continuum millirobots have presented outstanding potential in ultrahigh-precision engineering including minimally invasive surgery, due to their flexible mechanical structures and dexterous manipulation. Traditional continuum millirobots exhibit limited cargo-loading capacity, which restricts their application. Herein, we propose a novel design scheme of a magnetically actuated untethered hollow continuum millirobot. The millirobot is composed of silicone as the mainframe structure and two tiny magnets for actuation. To improve the loading capacity, partial silicone is removed to create a flexible cavity, which enables cargo delivery and potential in vivo sampling functions under wireless magnetic actuation. Theoretical analysis and experimental testing are conducted to reveal the effectiveness of the proposed design. The soft structure brings a new strategy to achieve multimodal motion including rolling, tumbling, and swinging. Moreover, the magnet part can generate a powerful magnetic force output for dexterous manipulation. These functionalities lay a foundation for playing a greater role in next-generation biomedical applications. |
| first_indexed | 2024-03-09T20:57:09Z |
| format | Article |
| id | doaj.art-1e258c7117304532a463ba63d86afb9c |
| institution | Directory Open Access Journal |
| issn | 2076-0825 |
| language | English |
| last_indexed | 2024-03-09T20:57:09Z |
| publishDate | 2022-09-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Actuators |
| spelling | doaj.art-1e258c7117304532a463ba63d86afb9c2023-11-23T22:17:13ZengMDPI AGActuators2076-08252022-09-01111026910.3390/act11100269Design and Testing of a Hollow Continuum Magnetic Millirobot with Multimodal MotionYuanhe Chen0Zichen Xu1Qingsong Xu2Department of Electromechanical Engineering, Faculty of Science and Technology, University of Macau, Avenida da Universidade, Taipa 999078, Macau, ChinaDepartment of Electromechanical Engineering, Faculty of Science and Technology, University of Macau, Avenida da Universidade, Taipa 999078, Macau, ChinaDepartment of Electromechanical Engineering, Faculty of Science and Technology, University of Macau, Avenida da Universidade, Taipa 999078, Macau, ChinaMagnetic continuum millirobots have presented outstanding potential in ultrahigh-precision engineering including minimally invasive surgery, due to their flexible mechanical structures and dexterous manipulation. Traditional continuum millirobots exhibit limited cargo-loading capacity, which restricts their application. Herein, we propose a novel design scheme of a magnetically actuated untethered hollow continuum millirobot. The millirobot is composed of silicone as the mainframe structure and two tiny magnets for actuation. To improve the loading capacity, partial silicone is removed to create a flexible cavity, which enables cargo delivery and potential in vivo sampling functions under wireless magnetic actuation. Theoretical analysis and experimental testing are conducted to reveal the effectiveness of the proposed design. The soft structure brings a new strategy to achieve multimodal motion including rolling, tumbling, and swinging. Moreover, the magnet part can generate a powerful magnetic force output for dexterous manipulation. These functionalities lay a foundation for playing a greater role in next-generation biomedical applications.https://www.mdpi.com/2076-0825/11/10/269microroboticsmagnetic actuationcontinuum millirobotuntethered soft robotmechanism design |
| spellingShingle | Yuanhe Chen Zichen Xu Qingsong Xu Design and Testing of a Hollow Continuum Magnetic Millirobot with Multimodal Motion Actuators microrobotics magnetic actuation continuum millirobot untethered soft robot mechanism design |
| title | Design and Testing of a Hollow Continuum Magnetic Millirobot with Multimodal Motion |
| title_full | Design and Testing of a Hollow Continuum Magnetic Millirobot with Multimodal Motion |
| title_fullStr | Design and Testing of a Hollow Continuum Magnetic Millirobot with Multimodal Motion |
| title_full_unstemmed | Design and Testing of a Hollow Continuum Magnetic Millirobot with Multimodal Motion |
| title_short | Design and Testing of a Hollow Continuum Magnetic Millirobot with Multimodal Motion |
| title_sort | design and testing of a hollow continuum magnetic millirobot with multimodal motion |
| topic | microrobotics magnetic actuation continuum millirobot untethered soft robot mechanism design |
| url | https://www.mdpi.com/2076-0825/11/10/269 |
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