A magnetic minirobot with anchoring and drilling ability in tubular environments actuated by external magnetic fields

Title
A magnetic minirobot with anchoring and drilling ability in tubular environments actuated by external magnetic fields
Authors
장건희
Keywords
MANIPULATION; ROBOTS
Issue Date
2015-03
Publisher
AMER INST PHYSICS
Citation
JOURNAL OF APPLIED PHYSICS, v. 117, NO 17, Page. 1-4
Abstract
We propose a magnetic minirobot with anchoring and drilling ability (MMAD) controlled by an external magnetic field. The proposed MMAD can navigate through a tubular environment, such as human blood vessels, actuated by a magnetic gradient and uniform rotating magnetic field. It can also generate an anchoring motion, which stably holds the position of the MMAD under pulsatile flow, in order to drill and unclog obstructed blood vessels. The operating conditions of the MMAD were examined by investigating the magnetic torques, and the holding force of the MMAD was measured by a force sensing resistor. Finally, we performed various experiments in a tubular environment to verify the validity of the proposed MMAD. (C) 2015 AIP Publishing LLC.
URI
http://scitation.aip.org/content/aip/journal/jap/117/17/10.1063/1.4916025http://hdl.handle.net/20.500.11754/22717
ISSN
1089-7550; 0021-8979
DOI
http://dx.doi.org/10.1063/1.4916025
Appears in Collections:
COLLEGE OF ENGINEERING[S](공과대학) > MECHANICAL ENGINEERING(기계공학부) > Articles
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