Abstract

Magnetic actuation is a fundamental enabling technology for micro/nanorobotics and biomedical manipulation. However, the trade-off between magnetic field gradient, usable workspace, and efficient heat dissipation often conflicts and constrains its performance. Here, we present an enhanced electromagnetic manipulation system (EEMS) based on a compact, high-efficiency magnetic circuit and an optimized six-electromagnet configuration. By integrating high-permeability structural components and employing finite-element-based optimization, the system achieves a spherical workspace of 106 mm in diameter while maintaining strong and spatially controllable magnetic fields. Experimental results demonstrate magnetic flux densities up to 300 mT and a magnetic field gradient up to 9.5 T/m within the workspace, with a central magnetic field gradient of approximately 2 T/m under continuous operation at 3 A. Thermal simulations and measurements confirm safe operation below human body temperature without active cooling. Magnetic manipulation experiments in viscous environments further validate precise motion control and force balancing, highlighting the system’s potential for advanced magnetic manipulation and intelligent microrobotic applications.

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