Analysis of the magnetic torque on a tilted permanent magnet for drug delivery in capsule robots

Publisher:
IEEE
Publication Type:
Conference Proceeding
Citation:
IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, 2016, 2016-September pp. 1386 - 1391
Issue Date:
2016-09-26
Full metadata record
Files in This Item:
Filename Description Size
07576964.pdfPublished version771.27 kB
Adobe PDF
In this paper, we present the analysis of the torque transmitted to a tilted permanent magnet that is to be embedded in a capsule robot to achieve targeted drug delivery. This analysis is carried out by using an analytical model and experimental results for a small cubic permanent magnet that is driven by an external magnetic system made of an array of arc-shaped permanent magnets (ASMs). Our experimental results, which are in agreement with the analytical results, show that the cubic permanent magnet can safely be actuated for inclinations lower than 75° without having to make positional adjustments in the external magnetic system. We have found that with further inclinations, the cubic permanent magnet to be embedded in a drug delivery mechanism may stall. When it stalls, the external magnetic system's position and orientation would have to be adjusted to actuate the cubic permanent magnet and the drug release mechanism. This analysis of the transmitted torque is helpful for the development of real-time control strategies for magnetically articulated devices.
Please use this identifier to cite or link to this item: