By Topic

3-D Locomotive and Drilling Microrobot Using Novel Stationary EMA System

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

The purchase and pricing options are temporarily unavailable. Please try again later.
5 Author(s)
HyunChul Choi ; Sch. of Mech. Eng., Chonnam Nat. Univ., Gwangju, South Korea ; Kyoungrae Cha ; Semi Jeong ; Jong-Oh Park
more authors

For 3-D locomotion and drilling of a microrobot, we proposed an electromagnetic actuation (EMA) system consisting of three pairs of stationary Helmholtz coils, a pair of stationary Maxwell coils, and a pair of rotating Maxwell coils in the previous research . However, this system could have limited medical applications because of the pair of rotational Maxwell coils. In this paper, we propose a new EMA system with three pairs of stationary Helmholtz coils, a pair of stationary Maxwell coils, and a new locomotive mechanism for the same 3-D locomotion and drilling of the microrobot as achieved by the previously proposed EMA system. For the performance evaluation of the proposed EMA system, we perform a 3-D locomotion and drilling test in a blood vessel phantom. In addition, the two EMA systems are compared to show that the newly proposed EMA system has 440% wider working space and 49% less power consumption than the previous EMA system.

Published in:

Mechatronics, IEEE/ASME Transactions on  (Volume:18 ,  Issue: 3 )