通过旋转环对设计可调磁响应连续体机器人，实现无需外部场控制的实时转向。
Design of Magnetic Continuum Robots with Tunable Force Response Using Rotational Ring Pairs
- 用旋转环对调节磁响应方向与强度，实现自主转向
- 实测末端最大偏移33.8毫米（占全长23%）
- 模型误差小于1.86毫米，适合临床精准操作场景
本文提出一种新型连续体机器人设计，可在不依赖外部磁场控制的情况下在线调节末端磁响应。该方法可同时改变有效磁方向和强度，引入额外转向自由度。相比传统依赖固定内部磁性材料的设计，该结构适用于可控或固定磁环境，提升临床适用性。实验显示，末端最大偏移达33.8毫米（机器人全长的23%）。基于改进梁理论建立的模型，平均绝对末端跟踪误差为1.86毫米（全长1.2%），所有测试点最大误差小于4.8毫米（全长3.2%）。
原文摘要 · Abstract (English)
In this paper, we discuss a novel continuum robot design that enables the online tuning of the magnetic response at its tip. The proposed method allows for the change of both effective magnetic direction and intensity, introducing steering DOF without the need to control the external fields. This is unattainable with classical designs, which rely on fixed internal magnetic content and steer solely under the effect of a controllable magnetic field. The proposed robot design can be used in both controllable and fixed magnetic fields, potentially widening the clinical applicability of these robots. We experimentally show a max tip deflection of 33.8 mm from the resting state (23 % of the length of the robot). We discuss a model based on modified beam theory that captures the mechanical behavior of the continuum robot, with a mean absolute tip tracking error of 1.86 mm (1.2 % of the length) and maximum errors of less than 4.8 mm (3.2 % of the length) for all experimental points.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。