Modeling magnetic soft continuum robot in nonuniform magnetic fields via energy minimization
文献类型：期刊论文
| 作者 | Li, Jiyu2; Wang, Liu1,2 |
| 刊名 | INTERNATIONAL JOURNAL OF MECHANICAL SCIENCES
 |
| 出版日期 | 2024-11-15 |
| 卷号 | 282页码:14 |
| 关键词 | Nonuniform magnetic field Magneto-mechanical behavior Energy minimization Magnetic soft continuum robot Hard-magnetic elastica Sequential quadratic programming |
| ISSN号 | 0020-7403 |
| DOI | 10.1016/j.ijmecsci.2024.109688 |
| 通讯作者 | Wang, Liu(wangliu05@ustc.edu.cn) |
| 英文摘要 | 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. |
| WOS关键词 | ACUTE ISCHEMIC-STROKE ; MECHANICAL THROMBECTOMY ; GUIDEWIRE ; MANIPULATION ; ACTUATION ; CATHETER |
| 资助项目 | National Natural Science Foundation of China[12272369] ; Fundamental Research Funds for the Central Universities[WK5290000004] |
| WOS研究方向 | Engineering ; Mechanics |
| 语种 | 英语 |
| WOS记录号 | WOS:001308616700001 |
| 资助机构 | National Natural Science Foundation of China ; Fundamental Research Funds for the Central Universities |
| 源URL | [http://dspace.imech.ac.cn/handle/311007/96520]  |
| 专题 | 力学研究所_非线性力学国家重点实验室 |
| 通讯作者 | Wang, Liu |
| 作者单位 | 1.Chinese Acad Sci, Inst Mech, State Key Lab Nonlinear Mech, Beijing, Peoples R China 2.Chinese Acad Sci, Univ Sci & Technol China, Dept Modern Mech, Key Lab Mech Behav & Design Mat, Hefei, Peoples R China |
| 推荐引用方式 GB/T 7714 | Li, Jiyu,Wang, Liu. Modeling magnetic soft continuum robot in nonuniform magnetic fields via energy minimization[J]. INTERNATIONAL JOURNAL OF MECHANICAL SCIENCES,2024,282:14. |
| APA | Li, Jiyu,&Wang, Liu.(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. |
入库方式： OAI收割
来源：力学研究所
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