Soft Electromagnetic Sliding Actuators for Highly Compliant Planar Motions Using Microfluidic Conductive Coil Array.

IF 6.4 2区 计算机科学 Q1 ROBOTICS Soft Robotics Pub Date : 2024-09-10 DOI:10.1089/soro.2024.0007
Yeongjin Choi,Gyowook Shin,Sohee John Yoon,Yong-Lae Park
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Abstract

We propose a soft electromagnetic sliding actuator that provides various planar motions to construct highly compliant actuation systems. The actuator is composed of a fully soft actuation base (stator) for generating electromagnetic and magnetic forces and a rigid neodymium magnet (slider) that slides on the actuation base. A parallel liquid-metal coil array in the stator is designed based on theoretical modeling and an optimization process to maximize the electromagnetic field density. The stretchable magnetic components in the stator allow the slider to retain its position stably without additional constraints. By incorporating an untethered structure in which the slider is mechanically decoupled from the stator, the actuator can be operated with reduced power consumption, attributed to the absence of a restoring force. The trajectory of the slider can be programmed by selectively applying the input current to the liquid-meal coil array, and the location of the slider can be estimated by measuring the change in inductance of each coil. Moreover, the proposed actuator demonstrates the capability of operating on curved surfaces through its physical compliance as well as on inclined surfaces thanks to the holding force generated by the magnetic components of the stator. Taking advantage of the unique characteristics of our actuator, robotic applications, including shape morphing systems and sensor-actuator integrated systems, are demonstrated.
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利用微流体导电线圈阵列实现高顺应性平面运动的软电磁滑动致动器
我们提出了一种软电磁滑动致动器,可提供各种平面运动,从而构建高顺应性致动系统。该致动器由一个用于产生电磁力和磁力的全软致动器基座(定子)和一个可在致动器基座上滑动的刚性钕磁铁(滑块)组成。定子中的平行液态金属线圈阵列是根据理论建模和优化过程设计的,以最大限度地提高电磁场密度。定子中的可拉伸磁性元件使滑块能够稳定地保持其位置,而无需额外的限制。通过采用一种滑块与定子机械脱钩的无系结构,致动器可以在没有恢复力的情况下降低功耗。滑块的轨迹可通过选择性地向液餐线圈阵列施加输入电流来编程,滑块的位置可通过测量每个线圈的电感变化来估算。此外,由于定子磁性元件产生的保持力,拟议的致动器通过其物理顺应性展示了在弯曲表面和倾斜表面上操作的能力。利用我们致动器的独特特性,我们展示了机器人应用,包括形状变形系统和传感器-致动器集成系统。
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来源期刊
Soft Robotics
Soft Robotics ROBOTICS-
CiteScore
15.50
自引率
5.10%
发文量
128
期刊介绍: Soft Robotics (SoRo) stands as a premier robotics journal, showcasing top-tier, peer-reviewed research on the forefront of soft and deformable robotics. Encompassing flexible electronics, materials science, computer science, and biomechanics, it pioneers breakthroughs in robotic technology capable of safe interaction with living systems and navigating complex environments, natural or human-made. With a multidisciplinary approach, SoRo integrates advancements in biomedical engineering, biomechanics, mathematical modeling, biopolymer chemistry, computer science, and tissue engineering, offering comprehensive insights into constructing adaptable devices that can undergo significant changes in shape and size. This transformative technology finds critical applications in surgery, assistive healthcare devices, emergency search and rescue, space instrument repair, mine detection, and beyond.
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A Biomimetic Adhesive Disc for Robotic Adhesion Sliding Inspired by the Net-Winged Midge Larva. YoMo: Yoshimura Continuum Manipulator for MR Environment. Soft-Rigid Hybrid Revolute and Prismatic Joints Using Multilayered Bellow-Type Soft Pneumatic Actuators: Design, Characterization, and Its Application as Soft-Rigid Hybrid Gripper. Soft Electromagnetic Sliding Actuators for Highly Compliant Planar Motions Using Microfluidic Conductive Coil Array. Model-Based Design of Variable Stiffness Soft Gripper Actuated by Smart Hydrogels.
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