The Spherical-Actuator-Magnet Manipulator: A Permanent-Magnet Robotic End-Effector.

A variety of magnetic devices can be manipulated remotely using a single permanent “actuator” magnet positioned in space by a robotic manipulator. This paper describes the spherical-actuator-magnet manipulator (SAMM), which is designed to replace or augment the singularity-prone spherical wrist used by prior permanent-magnet manipulation systems. The SAMM uses three omniwheels to enable holonomic ...