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For actuating the magnetic microrobots, two types of magnetic actuation technologies have been used during the last past years. These magnetic technologies may be either electromagnetic coils or permanent magnets based systems. This second solution is not the most used by researchers, because of the difficulties to control the magnetic force. In this paper we propose a magnetic actuator prototype...
In this paper, we propose an analytical model of the magnetic field generated by a system composed of two or more neodymium rectangular permanent magnets. This model makes it possible to map both the magnetic field and gradient of the permanent magnets in a 2D workspace. The objective of this approach is to contribute to the development of a magnetic actuator, other than based on magnetic coils, to...
This paper describes the pulling and steering of magnetic therapeutic microparticles for drug delivery based on a macro-micro manipulator system. The micromanipulation system is composed of a 6 Degree Of Freedom (6 DOF) serial manipulator while a linear permanent-based actuator (1 DOF) is equipped at the end-effector as a micropart to precisely steer and pull magnetic microparticles. Using the classical...
This article presents the adaptation of an existing parallel mechanism to design vertebra joints that can be used to compose the vertebral column of a biped robot. The mechanism was imagined for the design of a flight simulator [1]. It is composed of a bottom platform and a top platform connected by two articulated arms and a vertical central rod. Both arms are used to pitch and roll the top platform...
This paper deals with 2D simulations of a humanoid robot equipped with back bone pitch joints to study the advantages of having such a mechanism for daily human-like movements. The movements under investigation here involve knee flexion for sitting down on a chair or picking up objects on the floor. The model used for the humanoid robot is based on a kid-sized human body. The trunk is decomposed into...
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