Alleviation of Residual Vibrations in Hard-Magnetic Soft Actuators Using a Command-Shaping Scheme

Nagal, Naresh; Srivastava, Shikhar; Pandey, Chandan; Gupta, Ankur; Sharma, Atul Kumar

doi:10.3390/polym14153037

Cited by 14 publications

(2 citation statements)

References 58 publications

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“…they have been applied in soft robotics for gripping [436,437], crawling [438,439], manipulation tasks, as well as in medical devices [440]. hMSMs are a suitable candidate for such applications where the properties of the embedded hard magnetic particles (along with the flexibility and deformability of the surrounding soft matrix) help them to achieve controlled and reversible mechanical motion [441][442][443][444].…”

Section: Magnetic Actuatorsmentioning

confidence: 99%

Hard magnetics and soft materials—a synergy

Narayanan,

Pramanik,

Arockiarajan

2024

Smart Mater. Struct.

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Hard-magnetic soft materials (hMSMs) are smart composites that consist of a mechanically soft polymer matrix impregnated with mechanically hard magnetic filler particles. This dual-phase composition renders them with exceptional magneto-mechanical properties that allow them to undergo large reversible deformations under the influence of external magnetic fields. Over the last decade, hMSMs have found extensive applications in soft robotics, adaptive structures, and biomedical devices. However, despite their widespread utility, they pose considerable challenges in fabrication and magneto-mechanical characterization owing to their multi-phase nature, miniature length scales, and nonlinear material behavior. Although noteworthy attempts have been made to understand their coupled nature, the rudimentary concepts of inter-phase interactions that give rise to their mechanical nonlinearity remain insufficiently understood, and this impedes their further advancements. This holistic review addresses these standalone concepts and bridges the gaps by providing a thorough examination of their myriad fabrication techniques, applications, and experimental, and modeling approaches. Specifically, the review presents a wide spectrum of fabrication techniques, ranging from traditional molding to cutting-edge four-dimensional (4D) printing, and their unbounded prospects in diverse fields of research. The review covers various modeling approaches, including continuum mechanical frameworks encompassing phenomenological and homogenization models, as well as microstructural models. Additionally, it addresses emerging techniques like machine learning-based modeling in the context of hMSMs. Finally, the expansive landscape of these promising material systems is provided for a better understanding and prospective research.

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Section: Magnetic Actuatorsmentioning

confidence: 99%

Hard magnetics and soft materials—a synergy

Narayanan,

Pramanik,

Arockiarajan

2024

Smart Mater. Struct.

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show abstract

“…Xing and Yong [13] formulated an analytical model to estimate longitudinal deformation of a hard-magnetic soft actuator subject to DC and AC magnetic loadings. Nagal et al [14] employed Gent hyperelastic model to investigate deformation response of a magnetoactive soft actuator. Chen et al [15] explored the shape transformations of a hard-magnetic soft beam using the principle of minimum potential energy.…”

Section: Introductionmentioning

confidence: 99%

An experimental investigation of dynamic motions of a small-scale magnetoactive soft robot undergoing large nonlinear movements

Moezi¹,

Rakheja²

2023

Active and Passive Smart Structures and Integrated Systems XVII

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Small-scale magnetoactive soft robots (MSRs) with multimodal locomotion and wireless actuation capabilities have emerged in recent years for various highly sensitive and precise biomedical tasks such as targeted drug delivery and minimally invasive therapies. MSRs comprise magnetoactive elastomers consisting of micron-sized hard magnetic particles, such as neodymium-iron-boron (NdFeB), suspended or arranged into an elastomeric matrix. These robots generally exhibit large deformation under an applied magnetics stimulus, which is considered favorable for the aforementioned applications. Only limited efforts, however, have been reported on characterization of such robots. This is likely due to their nonlinear dynamics, especially under large deformations and hysteretic stress-strain characteristics, which strongly depend on the magnitude and frequency of the external magnetic stimuli. This study experimentally investigated and analyzed the real-time nonlinear and hysteretic responses of a MSR fabricated in the form of a cantilever beam made of a magnetoactive elastomer. An experiment was designed to characterize dynamic responses of the MSR under different magnetic stimuli at relatively higher frequencies to evaluate the rate-dependent hysteresis effect. A hardware-in-the-loop technique in conjunction with a PID controller was implemented, which permitted the generation of a precise and uniform magnetic field. The MSR was subjected to uniform magnetic loading perpendicular to the robot’s length leading to large amplitudes and rates of harmonic movements of the MSR. The experiments were performed under different intensities, ranging from 2 to 30 mT, at frequencies up to 3 Hz. The measured data were analyzed to obtain response time-histories and frequency response characteristics of the MSR, apart from the motion snapshots.

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Magneto-Responsive Biopolymer Composite Based on Plasticized Poly(Butylene Succinate-Co-Butylene Adipate) and Fe3O4 for Flexible Actuator Application

Thummarungsan,

Sirivat

2024

J Polym Environ

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Alleviation of Residual Vibrations in Hard-Magnetic Soft Actuators Using a Command-Shaping Scheme

Cited by 14 publications

References 58 publications

Hard magnetics and soft materials—a synergy

Hard magnetics and soft materials—a synergy

An experimental investigation of dynamic motions of a small-scale magnetoactive soft robot undergoing large nonlinear movements

Magneto-Responsive Biopolymer Composite Based on Plasticized Poly(Butylene Succinate-Co-Butylene Adipate) and Fe3O4 for Flexible Actuator Application

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