A Magnetic Manipulator Cooled With Liquid Nitrogen

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Becker_2018_MagneticManuipulatorPRE.pdf (4.59 MB)

Date

8/6/2018

Authors

Journal Title

Journal ISSN

Volume Title

Publisher

IEEE Robotics and Automation Letters

Abstract

Miniature robots manipulated by external magnetic fields could enable less invasive surgeries. Magnetic tools, capsules, or medication can be controlled inside a human body using electromagnets. However, resistive magnetic devices able to produce strong magnetic fields in a large volume inefficiently use space and energy. This letter presents the design and testing of a magnetic manipulator cooled with liquid nitrogen. This technique reduces the electrical resistance of copper wires. It, therefore, reduces the amount of heat generated to produce a given magnetic field. Liquid nitrogen-cooled electromagnets are smaller than air-cooled ones and use less power. This letter examines how both effects scale with the size of the workspace. The system presented possesses six electromagnets and its ability to control a robot is demonstrated experimentally.

Description

Keywords

Magnetic resonance imaging, Coils, Magnetic cores, Manipulators, Nitrogen, Electromagnets

Citation

Copyright 2018 IEEE Robotics and Automation Letters. This is a pre-print version of a published paper that is available at: https://ieeexplore.ieee.org/abstract/document/8425723 Recommended citation: Leclerc, Julien, Benedict Isichei, and Aaron T. Becker. "A Magnetic Manipulator Cooled With Liquid Nitrogen." IEEE Robotics and Automation Letters 3, no. 4 (2018): 4367-4374. DOI: 10.1109/LRA.2018.2863358 This item has been deposited in accordance with publisher copyright and licensing terms with author's permission.

URI

https://hdl.handle.net/10657/4906

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