# Electromagnetically Driven Robot for Multipurpose Applications
## 2 Description and Methodology  
A continuum robot is a type of robot which has been used for inspection or treatment in many fields such as industry and medicine. This type of robot usually consists of small segments where each segment or multiple segments can be controlled for advancing rotation by either internal or external actuation systems. Also, different methods are used for control which are basically either mechanical or change the properties of the materials. One popular type is the wire-actuated type where each segment or multiple segments of a chosen point can be controlled externally. By controlling the tension of the wire, the segment or multiple segments will bend. The disadvantage of this type is the resolution of the bending such that, to control each segment, it is required to have a large number of wires or lose the resolution and use only one wire for multiple segments. Pre-curved tubes are another type of continuum robot which uses pre-curved realistic parts for telescopically extension and axially rotation. An extrinsic actuation robot basically uses external actuators to perform the movement of the robot whereas in an intrinsic actuation robot, the actuators are within the robot. Other types of continuum robots are using the property of the materials or fluids for controlling the robot. Geared-based and motor-based are other types of continuum robots. However, there are some applications where gears are considered undesirable. So this patent aims to create an area of possible application by a new method of controlled motion using electromagnets and springs. The robot is described in Figure 1, and there are five segments. Each segment can bend in any angle across \(360^{\circ}\). So the invention in this patent is the mechanism of bending in each segment, which cumulatively can give the robot more freedom in the direction of the motion. A block diagram of the entire robotic system is shown below as Figure 1a. The microcontroller receives commands from the user and translates them into driving signals for the actuator control circuit. The actuation mechanism of the robot is activated with a permanent magnet and coils. The driving circuit regulates and controls the current flow through the coils using a special MOSFET transistor array, illustrated in Figure 1b, which energizes the coils in each segments, shown in Figure 1c. The communication between the microcontroller and the driving circuit holds a great deal of importance. With the aid of this pulsed signal, the microcontroller tunes the bending angle and time of movement of the robot by sending pulsed signals to the transistor array. The robot will then be able to perform movements with great accuracy as soon as it receives the required movement commands. The front part of the robot is fitted with an elaborate camera system mainly used to inspect the movement path. The camera is significant in the functionality of the robot since it provides real-time visual feedback for path inspection and real-time navigation. By obtaining high-resolution pictures or video footage, the camera allows the robot to understand its environment, identify obstacles, and make decisions over the trajectory of movements. The robot's system is powered either by a DC power supply or a rechargeable battery. Therefore, this dual power supply allows the robot to connect its power in any setting or situation, combining different sources based on what is available for any application, allowing versatility and portability in its operation. As illustrated in Figure 2, each segment has a number of springs and a number of electromagnets. The forces must be balanced between these parts. Fewer than 3 springs and 3 electromagnets reduce the available bending angles that the segment can achieve. The assembled part for a single segment is shown in Figure 2 and The disassemble part is described in the drawing shown below in Figure 3.  
Figure 1: (**a**) Block diagram of the proposed robot system, (**b**) actuator driving circuit, and (**c**) robots frame and segments.