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마그네틱 능동형 가이드와이어 및 자기장 제어 시스템 연구
전국홍(Guk Hong Jeon),백인철(In-Chul, Baek),김성훈(Sung Hoon Kim) 제어로봇시스템학회 2018 제어·로봇·시스템학회 논문지 Vol.24 No.4
This paper proposed magnetic field control system and active guidewire mechanism for active locomotion with steering function. Using a three-axis Helmholtz coil. The active guidewire consists of a permanent cylindrical magnet, a spiral blade, and a wire. The fabricated spiral-type end-effector is synchronized by the applied rotating magnetic field. To generate a uniform rotating magnetic field, we developed a three-axis Helmholtz coil with control software. Through simulation with various experimental analysis, we verified the performance of the developed magnetic manipulating system with the active guidewire.