Electromagnetically Driven Robot for Multipurpose Applications

摘要

This paper presents a novel design of a continuum robot driven by electromagnets and springs, offering enhanced precision in multi-degree-of-freedom bending for diverse applications. Traditional continuum robots, while effective in navigating constrained environments, often face limitations in actuation methods, such as wire-based systems or pre-curved tubes. Our design overcomes these challenges by utilizing electromagnetically driven actuation, which allows each segment of the robot to bend independently at any angle, providing unprecedented flexibility and control. The technical challenges discussed emphasize the goals of this work, with the main aim being to develop a motion control system that uses electromagnets and springs to improve the accuracy and consistency of the robot’s movements. By balancing magnetic and spring forces, our system ensures predictable and stable motion in 3D space. The integration of this mechanism into multi-segmented robots opens up new possibilities in fields such as medical devices, search and rescue operations, and industrial inspection. Finite element method (FEM) simulations validate the efficiency of the proposed approach, demonstrating the precise control of the robot’s motion trajectory and enhancing its operational reliability in complex scenarios.