Clawed Miniature Inchworm Robot Driven by Electromagnetic Oscillatory Actuator

Lee, Kyung-min; Kim, Youngshik; Paik, Jamie; Shin, Buhyun

doi:10.1016/s1672-6529(14)60142-6

Cited by 28 publications

(12 citation statements)

References 17 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Our actuator enables the creation of an earthworm robot with both lower profile and a higher strength-to-weight ratio than existing solutions that use electromagnetic motors, SMAs, and DEAs ((Choi et al, 2002; Duduta et al, 2016; Koh and Cho, 2009; Lee et al, 2015; Lee and Kim, 2008; Lim et al, 2007; Lu et al, 2009; Shian et al, 2015) as listed in Table 4). Piezoelectric polymers (e.g., PVDF) can enable a faster running speed (Wu et al, 2019), but the robot height is greater during movement, and the thrust force is lower than the electrostatic film actuator designed in this work, because its movement depends on bending instead of linear extension.…”

Section: Demonstration Of Miniature Robotsintegrating Mesoscale Electrostaticfilm Actuatorsmentioning

confidence: 99%

“…In our tests, the robot can barely move on a smooth surface (e.g., 2500 grit sandpaper) owing to substantial slippage. For the future, slippage could be mitigated through modifying the foot geometry by incorporating arrays of sharper needles and/or compliant joints (Asbeck et al, 2006; Lee et al, 2015). Another promising alternative is the use of electroadhesive feet, which can enable climbing on a smooth surface, and even a wall or ceiling (Graule et al, 2016; Wang and Yamamoto, 2017).…”

Section: Demonstration Of Miniature Robotsintegrating Mesoscale Electrostaticfilm Actuatorsmentioning

confidence: 99%

See 1 more Smart Citation

Biologically inspired electrostatic artificial muscles for insect-sized robots

Wang

York

Chen

et al. 2021

The International Journal of Robotics Research

View full text Add to dashboard Cite

Millimeter-sized electrostatic film actuators, inspired by the efficient spatial arrangement of insect muscles, achieve a muscle-like power density (61 W kg−1) and enable robotic applications in which agility is needed in confined spaces. Like biological muscles, these actuators incorporate a hierarchical structure, in this case building from electrodes to arrays to laminates, and are composed primarily of flexible materials. So comprised, these actuators can be designed for a wide range of manipulation and locomotion tasks, similar to natural muscle, while being robust and compact. A typical actuator can achieve 85 mN of force with a 15 mm stroke, with a size of [Formula: see text] mm3 and mass of 92 mg. Two millimeter-sized robots, an ultra-thin earthworm-inspired robot and an intestinal-muscle-inspired endoscopic tool for tissue resection, demonstrate the utility of these actuators. The earthworm robot undertakes inspection tasks: the navigation of a 5 mm channel and a 19 mm square tube while carrying an on-board camera. The surgical tool, which conforms to the surface of the distal end of an endoscope, similar to the thin, smooth muscle that covers the intestine, completes tissue cutting and penetrating tasks. Beyond these devices, we anticipate widespread use of these actuators in soft robots, medical robots, wearable robots, and miniature autonomous systems.

show abstract

Section: Demonstration Of Miniature Robotsintegrating Mesoscale Electrostaticfilm Actuatorsmentioning

confidence: 99%

Section: Demonstration Of Miniature Robotsintegrating Mesoscale Electrostaticfilm Actuatorsmentioning

confidence: 99%

Biologically inspired electrostatic artificial muscles for insect-sized robots

Wang

York

Chen

et al. 2021

The International Journal of Robotics Research

View full text Add to dashboard Cite

show abstract

“…The inchworm motion relies on the linear contraction of longitudinal muscles while using friction at the head and the tail of the inchworm for directional motion. Studies made use of SMA actuators [6], double balloons [26], magnetic attraction [27], and electromagnetic oscillatory actuators [28] to contract the body of worm-inspired robots. Despite the differences in actuation methods, they primarily aim to mimic the bending of the mechanism body.…”

Section: Biomimetic Locomotionmentioning

confidence: 99%

Magnetically Deployable Robots Using Layered Lamina Emergent Mechanism

et al. 2021

View full text Add to dashboard Cite

The steady rise of deployable structures and mechanisms based on kirigami and origami principles has brought about design innovations that yield flexible and lightweight robots. These robots are designed based on desirable locomotion mechanisms and often incorporate additional materials to support their flexible structure to enable load-bearing applications and considerable efficient movement. One tetherless way to actuate these robots is via the use of magnets. This paper incorporates magnetic actuation and kirigami structures based on the lamina emergent mechanism (LEM). Three designs of magnetic-actuated LEMs (triangular prism, single LEM (SLEM), alternating mirror dual LEM (AMDLEM)) are proposed, and small permanent magnets are attached to the structures’ flaps or legs that rotate in response to an Actuating Permanent Magnet (APM) to yield stick-slip locomotion, enabling the robots to waddle and crawl on a frictional surface. For preliminary characterization, we actuate the three designs at a frequency of 0.6 Hz. We observed the triangular prism, SLEM, and AMDLEM prototypes to achieve horizontal speeds of 4.3 mm/s, 10.7 mm/s, and 12.5 mm/s on flat surfaces, respectively. We further explore how changing different parameters (actuation frequency, friction, leg length, stiffness, compressibility) affects the locomotion of the different mechanisms.

show abstract

“…Various actuation methods are employed for realizing the different locomotion mechanisms described above. These include electric motors [2,3], electromagnetic actuators [4], soft pneumatic actuators [5] and piezoelectric actuation [6]. All of these methods require a dedicated energy source (e.g., a battery) and additional components (e.g., electrical wires, pneumatic tubes).…”

Section: Introductionmentioning

confidence: 99%

Self-propagating miniature device based on shape memory alloy

2018

View full text Add to dashboard Cite

The development of novel locomotion mechanisms is beneficial for advancing the field of selfpropagating devices, which are implemented in various civilian and military applications. In this work, we present a purely mechanic, mm-sized autonomous device capable of linear propagation on a smooth, relatively flat surface. The locomotion mechanism is driven by a shape memory alloy (SMA) wire that is connected to a metallic, ring-shaped, bias spring. Periodic changes in the temperature in the vicinity of the device activate the SMA wire, and result in alternating contraction-elongation deformations of the SMA-bias spring assembly. These deformations are transferred to a linear back and forth motion of small legs that are attached at the bottom of the ring. To generate locomotion, the general conditions for obtaining asymmetric friction between needle shaped legs and a smooth surface were formulated and validated experimentally. The structure and performance of the device are modeled analytically leading to basic design rules that are validated experimentally by real-time optical tracking of the device's displacements and propagation. In addition, the potential of miniaturization of the presented locomotion concept down to the micro-meter scale is demonstrated.

show abstract

Clawed Miniature Inchworm Robot Driven by Electromagnetic Oscillatory Actuator

Cited by 28 publications

References 17 publications

Biologically inspired electrostatic artificial muscles for insect-sized robots

Biologically inspired electrostatic artificial muscles for insect-sized robots

Magnetically Deployable Robots Using Layered Lamina Emergent Mechanism

Self-propagating miniature device based on shape memory alloy

Contact Info

Product

Resources

About