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Three-dimensional motion control of an untethered magnetic object using three rotating permanent magnets
Magnetic motion control has been actively studied mainly for the purpose of biomedical applications. However, in many cases, many actuator magnets surround a small magnet to be moved, and they consume large electric power. In some cases, complex calculations are required to estimate the control inpu...
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Formato: | Online Artículo Texto |
Lenguaje: | English |
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Nature Publishing Group UK
2023
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Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10593945/ https://www.ncbi.nlm.nih.gov/pubmed/37872282 http://dx.doi.org/10.1038/s41598-023-45419-2 |
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author | Sakuma, Hiroshi |
author_facet | Sakuma, Hiroshi |
author_sort | Sakuma, Hiroshi |
collection | PubMed |
description | Magnetic motion control has been actively studied mainly for the purpose of biomedical applications. However, in many cases, many actuator magnets surround a small magnet to be moved, and they consume large electric power. In some cases, complex calculations are required to estimate the control input of the actuator magnets. This study proposes a simple method to move a small magnet to the desired positions. For this, three cylindrical permanent magnets magnetized in the radial direction were positioned as the sides of a triangle; these actuator magnets were rotated using motors. By monitoring the position of the small magnet and through simple feedback control based on the angles of the three actuator magnets, the untethered small magnet could be moved along arbitrary three-dimensional (3D) paths. The control principle was established by calculating the magnetic force and torque acting on the small magnet for some sets of actuator-magnet angles. |
format | Online Article Text |
id | pubmed-10593945 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2023 |
publisher | Nature Publishing Group UK |
record_format | MEDLINE/PubMed |
spelling | pubmed-105939452023-10-25 Three-dimensional motion control of an untethered magnetic object using three rotating permanent magnets Sakuma, Hiroshi Sci Rep Article Magnetic motion control has been actively studied mainly for the purpose of biomedical applications. However, in many cases, many actuator magnets surround a small magnet to be moved, and they consume large electric power. In some cases, complex calculations are required to estimate the control input of the actuator magnets. This study proposes a simple method to move a small magnet to the desired positions. For this, three cylindrical permanent magnets magnetized in the radial direction were positioned as the sides of a triangle; these actuator magnets were rotated using motors. By monitoring the position of the small magnet and through simple feedback control based on the angles of the three actuator magnets, the untethered small magnet could be moved along arbitrary three-dimensional (3D) paths. The control principle was established by calculating the magnetic force and torque acting on the small magnet for some sets of actuator-magnet angles. Nature Publishing Group UK 2023-10-23 /pmc/articles/PMC10593945/ /pubmed/37872282 http://dx.doi.org/10.1038/s41598-023-45419-2 Text en © The Author(s) 2023 https://creativecommons.org/licenses/by/4.0/Open Access This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons licence, and indicate if changes were made. The images or other third party material in this article are included in the article's Creative Commons licence, unless indicated otherwise in a credit line to the material. If material is not included in the article's Creative Commons licence and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this licence, visit http://creativecommons.org/licenses/by/4.0/ (https://creativecommons.org/licenses/by/4.0/) . |
spellingShingle | Article Sakuma, Hiroshi Three-dimensional motion control of an untethered magnetic object using three rotating permanent magnets |
title | Three-dimensional motion control of an untethered magnetic object using three rotating permanent magnets |
title_full | Three-dimensional motion control of an untethered magnetic object using three rotating permanent magnets |
title_fullStr | Three-dimensional motion control of an untethered magnetic object using three rotating permanent magnets |
title_full_unstemmed | Three-dimensional motion control of an untethered magnetic object using three rotating permanent magnets |
title_short | Three-dimensional motion control of an untethered magnetic object using three rotating permanent magnets |
title_sort | three-dimensional motion control of an untethered magnetic object using three rotating permanent magnets |
topic | Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10593945/ https://www.ncbi.nlm.nih.gov/pubmed/37872282 http://dx.doi.org/10.1038/s41598-023-45419-2 |
work_keys_str_mv | AT sakumahiroshi threedimensionalmotioncontrolofanuntetheredmagneticobjectusingthreerotatingpermanentmagnets |