Steering Magnetic Particles by Feedback Control of Permanent Magnet Manipulators
Steering Magnetic Particles by Feedback Control of Permanent Magnet Manipulators
复制标题
通过永磁机械手的反馈控制来引导磁性粒子
DOI：
10.23919/acc.2019.8815060
复制
发表时间：
2019
期刊：
影响因子：
--
通讯作者：
Arash Komaee
中科院分区：
文献类型：
--
作者：
N. Riahi;Arash Komaee
非接触式磁性操纵器用于一系列医疗、微型机器人和微流体应用，可以在没有机械接触的情况下远距离操作磁化工具。这些设备设计的主导趋势是使用电磁体产生和控制磁场，而永磁体可以在类似的磁体尺寸、重量和成本下产生更强的磁场。可以利用这一优势来开发更紧凑、更有效且更便宜的磁力操纵器。本文简要描述了磁力操纵器的概念设计，该磁力操纵器利用一组永磁体和机械执行器来控制其磁场，从而控制其施加到磁性粒子上的磁力。设计了非线性反馈控制律，使该机械手能够以合理的精度沿着参考轨迹引导磁性粒子。
Noncontact magnetic manipulators are used in a range of medical, microrobotics, and microfluidics applications to operate magnetized tools from a distance without mechanical contact. The dominant trend in the design of these devices is to produce and control magnetic fields using electromagnets, while permanent magnets can produce much stronger magnetic fields for similar magnet size, weight, and cost. This advantage can be exploited to develop more compact, more effective, and less expensive magnetic manipulators. This paper briefly describes the conceptual design of a magnetic manipulator which utilizes an array of permanent magnets and mechanical actuators to control its magnetic field, and consequently, its magnetic force applied to magnetic particles. A nonlinear feedback control law is designed which enables this manipulator to steer magnetic particles along reference trajectories with reasonable precision.
影响因子：
2.7
作者：
Probst R;Lin J;Komaee A;Nacev A;Cummins Z;Shapiro B
通讯作者：
Shapiro B