3D Untethered Mobile Actuator for Wireless Grasping
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Solution Overview
Problem
Existing 3D magnetic grippers require additional inputs beyond magnetic fields for control, leading to complex setups, poor biocompatibility, limited control over gripping force, slow operations, and restricted cargo handling due to reliance on thermal, chemical, or optical stimuli, which are hazardous in biological environments and limit their versatility.
Innovation Solution
A 3D untethered mobile actuator composed of magnetized panels with embedded permanent magnetic particles, capable of changing configuration between flat and hollowed polyhedral structures solely under magnetic influence, allowing for autonomous, wireless control of position, orientation, and grasping without thermal or chemical actuation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If additional inputs (thermal, chemical, optical) are used to control 3D magnetic grippers, then the gripper can achieve full control over orientation, shape, and position, but the device complexity increases and biocompatibility deteriorates
Solution Approach 1:
The invention extracts and removes the thermal, chemical, and optical actuation mechanisms from the magnetic gripper system, retaining only magnetic field actuation. This simplifies the control system while maintaining the ability to control orientation, shape, and position through magnetic forces and torques alone.
Solution Approach 2:
The magnetic field serves multiple functions simultaneously: it provides actuation force, control signals, and energy transmission to the microrobot. This multi-functionality eliminates the need for separate thermal, chemical, or optical control systems, reducing overall device complexity while maintaining full control authority.
2Ease of operation
If additional inputs (thermal, chemical, optical) are used to control 3D magnetic grippers, then the gripper can achieve full control over orientation, shape, and position, but biocompatibility deteriorates due to harmful effects on biological cells and tissues
Solution Approach 1:
The invention removes thermal, chemical, and optical actuation mechanisms that cause harmful effects on biological cells and tissues, leaving only magnetic field actuation which is biocompatible and does not compromise biological safety.
3Ease of operation
If thermal response is used to actuate the microgripper through alternating magnetic field, then the microgripper can be controlled using magnetic field, but the operation speed becomes slow (ten or more seconds to close)
Solution Approach 1:
The invention replaces thermal actuation mechanisms with direct magnetic actuation. Instead of using thermal response that requires ten or more seconds to close, the microgripper uses magnetic forces and torques that can close in a fraction of a second, dramatically improving operation speed while maintaining magnetic field control.
4Device complexity
If 2D microgripper geometry is used with magnetic field control, then the microgripper can be controlled using only magnetic field, but the deformation range is limited and cargo handling is restricted
Solution Approach 1:
The invention transitions from 2D microgripper geometry to 3D microgripper geometry. This dimensional change enables the microgripper to handle various cargo geometries and dimensions securely, significantly improving adaptability and versatility while maintaining control using only magnetic fields without requiring additional thermal, chemical, or optical inputs.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables easy, secure grasping and rapid release of micro/nanometer-sized objects with precise control, biocompatibility, and versatility in handling various cargo geometries, using only magnetic fields for actuation, thereby simplifying control and enhancing biocompatibility.
Implementation Method 1
Magnetic field is utilized to provide energy and controlling signals to microrobots, with its distinct advantages of being able to penetrate most materials, especially biological substances, and generate forces and torques on magnetic materials remotely and simultaneously
Implementation Method 2
Diller and Sitti presented two kinds of 2D tetherless soft-bodied microgrippers actuated by magnetic forces and magnetic torques
Implementation Method 3
each magnetized panel of the 3D untethered mobile actuator having a magnetic moment in a different direction than a next neighboring panel
Data Source
AI summary
A three-dimensional (3D) untethered mobile actuator having the following parts: (a) a substrate having two or more magnetized panels, and (b) a frame that connects the magnetized panels, the magnetized panels being made of a polymer with embedded permanent magnetic particles, each magnetized panel of the 3D untethered mobile actuator having a magnetic moment in a different direction than a next neighboring panel, and the 3D untethered mobile actuator having a structural configuration that changes between a substantially flat structural configuration in the absence of a magnetic field, and an actuated structural configuration when under influence of a magnetic field. Methods of manufacturing and using the 3D mobile actuator and a system that includes the 3D mobile actuator are provided.