Segmented Continuum Manipulator for Magnetic Bending Flexibility
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
There is a trade-off in design between the magnetic moment required for deformation and flexibility in continuum manipulators, which affects their ability to navigate tortuous environments.
Innovation Solution
A continuum manipulator design incorporating an elongated body with distributed magnets and flexible segments, optimized for flexibility and magnetic interaction, allowing it to bend and stretch under external magnetic fields for navigation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Force
If the density of magnetic particles in the polymer composite is increased to increase magnetic moment, then the magnetic moment is improved, but the stiffness increases and flexibility is reduced
Solution Approach 1:
The continuum manipulator is divided into multiple discrete magnetic segments along its elongated body, each containing magnetic particles suspended in polymer composite. This segmentation allows different regions to have optimized magnetic particle densities for their specific functional requirements, enabling high magnetic moment where needed while maintaining flexibility in other regions.
Solution Approach 2:
The magnetic particle density in the polymer composite is varied locally along the elongated body of the continuum manipulator. Regions requiring higher magnetic response have increased magnetic particle density, while regions requiring flexibility maintain lower magnetic particle density, thus resolving the contradiction between magnetic moment and flexibility at different locations.
2Ease of operation
If the magnetic moment is increased to improve ease of manipulation, then magnetic force is improved, but the flexibility required to navigate tortuous pathways is reduced
Solution Approach 1:
The manipulator is segmented into multiple magnetic sections that can independently respond to magnetic fields. This allows the proximal segments to provide strong magnetic response for ease of manipulation and positioning, while distal segments maintain higher flexibility for navigating tortuous pathways, resolving the contradiction between ease of operation and adaptability.
Solution Approach 2:
The magnetic properties of the continuum manipulator are made dynamic and controllable through external magnetic fields. The magnetic particle density distribution can be optimized to provide high magnetic moment when manipulation force is needed, while maintaining the capability for flexible deformation when navigation through tortuous pathways is required.
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
The design enables sufficient magnetic force for deformation while maintaining flexibility to navigate complex pathways effectively.
Implementation Method 1
The at least two magnets are distributed along the axis defined by the elongated body and are arranged such that two neighboring magnets face each other with opposite poles
Implementation Method 2
sufficient magnetic force for deformation while maintaining flexibility
Implementation Method 3
each flexible segment is arranged in between two neighboring magnets of the at least two magnets
Data Source
AI summary
A continuum manipulator includes an elongated body defining a virtual axis extending in a longitudinal direction. The elongated body includes at least two magnets, distributed along the virtual axis and arranged such that the magnetic fields of these two magnets are oriented along the virtual axis, at least one flexible segment, each arranged in between two neighboring magnets and having a length defining a distance between two neighboring magnets. A resilience of the at least one segment and the mutual attractive force active over the distance between the two neighboring magnets are configured such that the elongated body is predisposed to flex under influence of an externally applied first magnetic field comprising a constant component transverse to the magnetic fields of the at least two magnets, and to stretch out in the longitudinal direction in the absence of the first externally applied magnetic field.