| Modeling magnetic soft continuum robot in nonuniform magnetic fields via energy minimization | |
| Li, Jiyu1; Wang L(王柳)1,2 | |
| Corresponding Author | Wang, Liu([email protected]) |
| Source Publication | INTERNATIONAL JOURNAL OF MECHANICAL SCIENCES
 |
| 2024-11-15 | |
| Volume | 282Pages:14 |
| ISSN | 0020-7403 |
| Abstract | The emerging magnetic soft continuum robots (MSCRs) - a type of slender and soft rods with embedded hardmagnetic particles - hold great promise in endovascular intervention via remote magnetic actuation. Although numerous advantages of using permanent magnets have been demonstrated for manipulating MSCRs (e.g., simple systems with high actuation force, large operating workspace), the magneto-mechanical behavior of MSCRs in nonuniform magnetic fields, particularly those generated by permanent magnets, remains largely unexplored. In this work, a systematic study of MSCRs in the nonuniform field is presented, which includes theoretical modeling using hard-magnetic elastica theory, numerical analyses by energy minimization method, finite element simulations using ABAQUS user element (UEL), and experimental validation. Without solving governing differential equations, the large deflection of MSCRs is efficiently obtained via the minimization of the total potential energy using sequential quadratic programming (SQP). This efficient modeling method offers insights into the control of MSCRs using nonuniform magnetic fields. Two practical strategies are provided for precisely controlling MSCRs by manipulating a cubic magnet through the adjustment of the actuation distance, rotation angle, and spin angle, laying the foundation for applications of magnetically-assisted endovascular intervention. |
| Keyword | Nonuniform magnetic field Magneto-mechanical behavior Energy minimization Magnetic soft continuum robot Hard-magnetic elastica Sequential quadratic programming |
| DOI | 10.1016/j.ijmecsci.2024.109688 |
| Indexed By | SCI ; EI |
| Language | 英语 |
| WOS ID | WOS:001308616700001 |
| WOS Keyword | ACUTE ISCHEMIC-STROKE ; MECHANICAL THROMBECTOMY ; GUIDEWIRE ; MANIPULATION ; ACTUATION ; CATHETER |
| WOS Research Area | Engineering ; Mechanics |
| WOS Subject | Engineering, Mechanical ; Mechanics |
| Funding Project | National Natural Science Foundation of China[12272369] ; Fundamental Research Funds for the Central Universities[WK5290000004] |
| Funding Organization | National Natural Science Foundation of China ; Fundamental Research Funds for the Central Universities |
| Classification | 一类 |
| Ranking | 1 |
| Contributor | Wang, Liu |
| Citation statistics | |
| Document Type | 期刊论文 |
| Identifier | http://dspace.imech.ac.cn/handle/311007/96521 |
| Collection | 非线性力学国家重点实验室 |
| Affiliation | 1.Chinese Acad Sci, Univ Sci & Technol China, Dept Modern Mech, Key Lab Mech Behav & Design Mat, Hefei, Peoples R China; 2.Chinese Acad Sci, Inst Mech, State Key Lab Nonlinear Mech, Beijing, Peoples R China |
| Recommended Citation GB/T 7714 | Li, Jiyu,Wang L. Modeling magnetic soft continuum robot in nonuniform magnetic fields via energy minimization[J]. INTERNATIONAL JOURNAL OF MECHANICAL SCIENCES,2024,282:14.Rp_Au:Wang, Liu |
| APA | Li, Jiyu,&王柳.(2024).Modeling magnetic soft continuum robot in nonuniform magnetic fields via energy minimization.INTERNATIONAL JOURNAL OF MECHANICAL SCIENCES,282,14. |
| MLA | Li, Jiyu,et al."Modeling magnetic soft continuum robot in nonuniform magnetic fields via energy minimization".INTERNATIONAL JOURNAL OF MECHANICAL SCIENCES 282(2024):14. |
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