Electromagnet design for untethered actuation system mounted on robotic manipulator

•New design of electromagnet is proposed for novel electromagnetic actuator concept.•The new concept integrates a robotic arm with co-axially movable electromagnets.•The flexibility of the electromagnetic actuator enables larger microrobot workspace.•Design constraints are robotic arm limits, form and intensity of the magnetic field.•With included video, the performance of the EMA system is demonstrated.