扭力弹簧
扭转(腹足类)
双稳态
磁铁
扭矩
机器人
刚度
执行机构
弹簧(装置)
计算机科学
毫米
机械工程
材料科学
工程类
控制理论(社会学)
结构工程
物理
电气工程
光电子学
人工智能
光学
热力学
外科
医学
控制(管理)
作者
Cameron Forbrigger,Adam Schonewille,Eric Diller
标识
DOI:10.1109/icra48506.2021.9561357
摘要
Magnetic torsion springs are capable of producing unique and useful torque-displacement responses that are not possible with elastic springs. Millimeter-scale magnetically-actuated robots, which are gaining increasing interest in biomedical applications, would benefit from the use of magnetic torsion springs. However, existing magnetic torsion springs are difficult to fabricate at that scale and can only produce sinusoid-like responses. Here we show that the magnets embedded in the links of a robot for actuation purposes can also be leveraged to produce torsion spring-like behavior. This Simultaneous Magnetic Actuation and Restoring Torque (SMART) spring design can enable switching or pop-up behaviour in millimeter-scale magnetically-actuated mechanisms. A novel analytical model, validated both numerically and experimentally, is used to design constant-stiffness and nonlinear bistable SMART springs. These springs are integrated into a novel 3.5 mm diameter magnetic robot manipulator.
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