Modeling and Control of an Untethered Magnetic Gripper
Yunxuan Mao Sishen Yuan Jiaole Wang Jinmin Zhang Shuang Song Yunxuan Mao Sishen Yuan Jiaole Wang Jinmin Zhang Shuang Song
Small-scale robots have great potential in minimally invasive surgery (MIS). In this paper, we propose an untethered magnetic gripper with small scale and build a double-magnet model for it. The gripper is 4.3mm long and its maximum width is 4mm. It contains a spindle and two magnets, which can achieve precise control of orientation, position and open angle with external magnetic driven field. As ...