Characteristics of Permanent Magnet Coupling Based Wireless Manipulation via Simulation

Characteristics of wireless manipulation based on permanent magnet coupling, including anchoring distance, panning torque, and translational force, are assessed in this paper. The study focuses on a typical scenario where a slave robot embedded with a small permanent magnet can be remotely controlle...

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Bibliographic Details
Published in2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) pp. 10308 - 10314
Main Authors Zhang, Tao, Li, Jixiu, Cheng, Truman, Ng, Calvin S.H., Chiu, Philip W.Y., Li, Zheng
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.10.2023
Subjects
Couplings
Economics
Force
Medical robotics
Permanent magnets
Torque
Wireless communication
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Summary:Characteristics of wireless manipulation based on permanent magnet coupling, including anchoring distance, panning torque, and translational force, are assessed in this paper. The study focuses on a typical scenario where a slave robot embedded with a small permanent magnet can be remotely controlled within a constrained area by a master large permanent magnet placed outside the environment at a certain distance from it. The key parameters (force and torque) acting on the slave robot are quantified and evaluated. In this article, several combinations of permanent magnets with various dimensions and configurations are studied using finite element methods. Based on the obtained results, we create a lookup table for each parameter, serving as a guideline to help interested researchers choose suitable magnetic combinations for their applications.
ISSN:2153-0866
DOI:10.1109/IROS55552.2023.10341587