Design, Modeling, and Experimental Validation of a Novel 3D-Bendable Modular Electromagnetic Flexible Linear Actuator

While linear actuators have many applications, the majority of them are rigid and straight, limiting their applications and the work environment. This article presents a novel design for an electromagnetic flexible linear actuator (FLA) that can overcome such restrictions, as well as a computationally efficient model that predicts the output force based on the input current and the actuator shape. The FLA design is of a 3D-printable stator, easy-to-manufacture, and assemble with off-the-shelf components, modular, scalable, and easy to maintain. It can bend and take any arbitrary shape with reasonable curvature based on the dimensions of the motor. This facilitates the integration of the FLA in industry. The presented novel mathematical model fills the gap in the research area of the nonstraight actuator models. The model is derived by decomposing the actuator into noncoaxial coils and magnets. Through cascading the forces generated between each coil and the magnets, the output force of the actuator is calculated. The output of the model is validated experimentally by comparing its results to the actuator's force at different bending angles, planar, and in 3D space.