Manipulation of permanent magnet beads with head-to-tail ring formation on thin 3D surfaces

摘要: Abstract We propose a novel permanent-magnet-bead structure (PMBS) able to move on thin three-dimensional (3D) surfaces actuated by an external rotating magnetic field (ERMF). The proposed PMBS can sustain its without using mechanical linkages. It also has self-positioning capability, which maintain current position in the presence of disturbances aid ERMF. along 3D surface with either rolling or walking locomotion under ERMF depending different geometric constraints. calculated torque and force evaluate their abilities surface. Finally, we conducted several experiments demonstrate controlled motions complex environments.