Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
6867039 | Robotics and Autonomous Systems | 2018 | 16 Pages |
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
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Authors
W. Amokrane, K. Belharet, M. Souissi, A. Bozorg Grayeli, A. Ferreira,