Article ID Journal Published Year Pages File Type
6867039 Robotics and Autonomous Systems 2018 16 Pages PDF
Abstract
This paper describes the pulling and steering of magnetic therapeutic microparticles for drug delivery based on a macro-micromanipulator system. The macromanipulation system is composed of a 6 Degree Of Freedom (6 DOF) serial manipulator while a linear permanent-based actuator (1 DOF) is equipped at the end-effector as a micropart to precisely steer and pull magnetic microparticles. Using the classical mathematical tools of robotics, we developed the global kinematic model of the robot-device assembly, thus defining a reference trajectory to propel the microparticles. A novel actuator-based permanent magnet has been designed and realized as a robot micro end-effector to control the trajectory of a microparticle along a millimeter-sized workspace. Simulations and experiments were conducted to show the ability of the macro-micromanipulator system to steer particles on a viscous fluid simulating a biological media.
Related Topics
Physical Sciences and Engineering Computer Science Artificial Intelligence
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