执行机构
材料科学
人工肌肉
螺线管
磁铁
机械工程
电磁线圈
双稳态
模块化设计
功率密度
功率(物理)
声学
计算机科学
电气工程
光电子学
工程类
物理
量子力学
操作系统
作者
Gyowook Shin,Yun Young Choi,Byungjun Jeon,In-Rak Choi,Suk‐Ho Song,Yong‐Lae Park
标识
DOI:10.1002/adfm.202302895
摘要
Abstract Soft electromagnetic artificial muscles (SEAMs) that use electric currents are reported as their power sources. The proposed actuator consists of fully soft components: microfluidic coils, stretchable magnets, ferromagnetic silicone, and stretchable housings. The soft coils are fabricated by directly printing room‐temperature liquid metal on a stretchable substrate, enabling the generation of high‐density electromagnetic fields. Based on design optimization through modeling and simulation, the proposed actuators have a characteristic of bistability following the relationships of the forces acting on the components. Depending on the design configurations, the proposed actuators generate contraction and expansion motions as well as vibrations in a bidirectional manner, enabled by electromagnetic actuation. The main advantages of the proposed actuators are fully compliant structures, compact form factors, and short response times, which have not been observed in existing polymer‐based artificial muscles. Another advantage is the self‐detection of the actuation states by measuring the inductance change in the coils. Last, the modular design fully packaged with a coil and magnets in a soft housing makes it possible to easily resize and reconfigure the robotic systems with multiple actuator modules for different applications. Examples of applications demonstrated are a modular crawling robot, energy‐efficient grippers, a multi‐degrees of freedom (DOF) soft manipulator, and a high‐frequency swimming robot.
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