Inverse Structural Design and Optimization of Magnetic Continuum Manipulators Oriented to Workspace Requirements

doi:10.3901/JME.2025.19.101

Abstract

Abstract: Magnetic continuum manipulators show a broad application prospect in precision operation scenarios such as minimally invasive surgery due to their wireless actuation, high flexibility and good biocompatibility. However, due to the nonlinear characteristics of magnetoelastic continuum modeling and the strong coupling relationship between structural parameters, it is difficult to realize efficient structural reverse design from the target task requirements. To this end, a structural inverse design and optimization method oriented toward workspace requirements is proposed for magnetic continuum manipulators. The proposed method adopts the structural expression based on the combination of modules, constructs a task-objective-oriented workspace performance evaluation model, faces two types of typical task scenarios of workspace optimization with position as the objective and specific area as the objective, introduces the weight adjustment mechanism, and combines with the COMSOL finite element simulation to complete the parameter optimization and structure generation. Based on the optimization results, the corresponding manipulator is fabricated, and the accuracy of the deformation posture trajectory and workspace of the manipulator is verified through simulation and test. The task execution ability of the manipulator in different scenarios is further verified through handling and assembly tests. The results show that this method can effectively realize the customized design and performance adaptation of the magnetic continuum manipulator in multi-objective scenarios, which is applicable to the key fields of flexible robots such as minimally invasive medical treatment and flexible manipulation.

Key words: magnetic continuum manipulator, structural reverse design, workspace optimization, finite element simulation, miniature soft robots

CLC Number:

TP242

XIANG Hongbiao, ZHAO Xianghong, YANG Lu, WANG Shoujun, ZHANG Sen, ZHANG Mian. Inverse Structural Design and Optimization of Magnetic Continuum Manipulators Oriented to Workspace Requirements[J]. Journal of Mechanical Engineering, 2025, 61(19): 101-111.

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