# Electromagnetically Driven Robot for Multipurpose Applications
## 1 Introduction and Literature
The exploration of diverse actuation mechanisms underscores the ongoing innovation and evolution within the field of continuum robotics, paving the way for enhanced performance, versatility, and applicability across a broad spectrum of industries and applications. Numerous endeavors have been dedicated to enhancing the design and actuation systems of continuum robots, with a particular focus on refining wire actuation mechanisms. Wire actuation has emerged as a prominent method, undergoing multiple developmental iterations. This mechanism allows for the external control of individual segments or clusters of segments at specific points by manipulating the tension in the wire. An example of such innovation can be found in patent WO2019055701A1 [9], showcasing the ongoing exploration and experimentation within this domain. Moreover, the work in patent JP2019058648A [10] reveals an innovative continuum robot configuration that incorporates multiple curved sections, such as a distal curve part and a proximal curve part, each of which is curved using at least one wire. This design includes a drive body responsible for wire actuation, a controller tasked with regulating the wire's actuation level, and a movable base that can facilitate the robot's movement. In the described system, when the base imparts a displacement value to the continuum robot, the distal curve part initiates a rotary motion. This rotary motion spans an angle equal to or greater than a specific degree. Notably, the controller ensures that the proximal curve part does not undergo rotary motion exceeding a defined degree. Instead, it monitors the curvature state of the distal curve part upon the completion of its rotary movement and orchestrates the proximal curve part to mirror the movements of the distal curve part accordingly, thus ensuring synchronized and coordinated motion within the continuum robot design. Nevertheless, the wire-actuated approach continues to grapple with a notable drawback concerning the resolution of bending movements. Achieving fine control over the bending behaviour demands either a significant quantity of wires dedicated to individual segment manipulation or a compromise in resolution by employing a single wire to govern multiple segments simultaneously. This dilemma underscores a key challenge in the wire actuation domain, where striking a balance between control precision and practicality remains a persistent concern. An alternative actuation mechanism in the realm of continuum robots involves the utilization of pre-curved tubes, leveraging pre-shaped components for telescopic extension and axial rotation. For instance, patent US10737398B2 [11] introduces a device featuring an elastic support member, one or more rods pre-bent in their resting state, and a series of support discs, each equipped with multiple apertures. These apertures are designed to accommodate the pre-curved rods, which are composed of material with differing stiffness compared to the elastic support member. The elastic support member is affixed to the support discs to uphold the spacing between them. As the pre-curved rod slides within the apertures, it adjusts the positioning of the support discs and coerces the elastic support member to conform to a specific shape dictated by the rod's placement. This mechanism offers a distinctive approach to actuation, showcasing the potential for intricate and controlled movements within continuum robotics through the manipulation of pre-curved components. Furthermore, within the realm of robotics research, a plethora of studies have been dedicated to advancing multi-degree-of-freedom robots and manipulators capable of achieving continuum deformation and enhanced stability. One notable innovation in this domain is the development of flexible bio-tensegrity manipulators. Moreover, researchers have explored synthetic methodologies to design and deploy multi-degree-of-freedom tuned mass dampers, specifically targeting the damping of bending motions.