Design and Fabrication of a Novel Miniature Magnetic Gripper
Mengde Li,Fuqiang Zhao,Xiangli Li,Mingchang Li,Sheng Liu,Miao Li,Mengde Li,Fuqiang Zhao,Xiangli Li,Mingchang Li,Sheng Liu,Miao Li
Small-scale robots hold significant promise in the field of minimally invasive surgery (MIS). In this paper, we present a miniature magnetic gripper and develop a data-driven kinematic model. The gripper comprises four fingers, wherein each finger has a maximum size not exceeding 3mm, 4mm and 5.5mm in three dimensions. By integrating permanent magnets and elastic ropes as internal actuation elemen...
