Design of A Drive Scheme for Untethered Magnetic Manipulation Polishing

Abstract

Based on the untethered magnetic manipulation polishing device, this paper proposes a reasonable driving scheme, which makes the teleoperation process of the device more stable and easy to implement. The change of the position of the external permanent magnet can drive the internal polishing tool to produce corresponding changes. The comparison is made between the axial and radial driving modes, and finally the axial driving mode is selected for control.