Magnetic force is useful for manipulating objects without contact. W e propose a method of micromanipulation using this force. T h e concept i s based upon linkage-free end-effectors and different f r o m the concept of serial-link manipulators. Multiple cylindrical permanent magnets work as end-effectors. T h e perm a n e n t magnets o n the stage, above a n arrangement of solenoids, manipulate objects by pushing. Furthermore, 3 0 manipulation can be achieved as a link mechanism is used.
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