Dynamics on an Electromagnetic Tilting Actuator in a Hyper Redundant Serial Chain

A hyper-redundant serial chain concept based on bistable, electromagnetic tilting actuators for use in future endoscopic applications was proposed earlier. The dynamics modelling and the simulation of the tilting behaviour is essential due to different reasons: As the system is not equipped with any sensors, necessary poweron durations for driving the electromagnetic actuators from one tilting position to the other must be predicted. These durations can be calculated through the dynamics model with respect to acting forces and inertia. Additionally, power-on durations can be used to prohibit unintended opening of other actuators in the serial chain. Therefore, this paper focuses on the validity of the dynamic model of one actuator within the manipulator, through detailed measurements of its tilting behaviour with regard to different power-on durations.