Miniaturized Dual Electromagnetic Oscillatory Actuator for Legged Locomotion of Micro Mobile Robots

Shin, Bu Hyun; Lee, Kyung-min; Kim, Youngshik

doi:10.14257/ijca.2014.7.8.21

Cited by 2 publications

(2 citation statements)

References 6 publications

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“…They are capable of generating oscillatory motion and have been employed in various types of micro robots, including tadpole robots, 2-legged robots, and 4-legged robots [6]. A miniaturized dual electromagnetic oscillatory actuator has been proposed, which includes two magnets, a coil, and a yoke [7]. in that system the dynamic characteristics, torque, and restoring constants of these actuators have been determined using finite element simulation techniques.…”

Section: Introductionmentioning

confidence: 99%

Design, Modeling, and Simulation of a Novel Electromagnetic Linear Actuator for Linear Motion

Mohamed,

Im,

Shin

et al. 2024

IEEE Access

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This paper presents the design, modeling, and simulation of a compact electromagnetic linear actuator and its application to a linear motion mechanism. The proposed actuator consists of a coil and a permanent magnet, and can generate a linear motion when an alternating current is applied to the coil. Its overall dimensions are 20 mm (W) × 15 mm (H) × 15 mm (D) while the weight is 7 g. The proposed actuator can be controlled in terms of position using an open-loop system. A mathematical model is created for the proposed actuator, and theoretical analysis is performed to examine the actuator dynamic model. The simulation results are validated experimentally by manufacturing a physical prototype. Therefore, the proposed actuator generates an electromagnetic force of 0.1 N at 10 V (0.07 A), then our actuator able to achieve a displacement of 0.2 mm. Moreover, the experimental resonance frequency is measured at 70 Hz and the bandwidth of 80 Hz. Finally, the overall system performance is evaluated by integrating the developed actuator into the linear motion mechanism. We investigate the stick-slip motion of the linear mechanism without feedback control, dedicating sufficient time to both the slip phase and the stick phase. The experimental results show that the linear motion mechanism travels with speed 6 mm s −1 with a frequency of 30 Hz.

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Section: Introductionmentioning

confidence: 99%

Design, Modeling, and Simulation of a Novel Electromagnetic Linear Actuator for Linear Motion

Mohamed,

Im,

Shin

et al. 2024

IEEE Access

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“…In recent years, many kinds of microrobots have been developed to achieve various tasks due to technical advancements in manufacturing and further progress is expected in this field [10][11][12][13]. For instance, microrobots are commonly used in industry to repair and maintain pipelines [14][15][16][17][18][19][20][21][22]. The microrobot is also used in medicine to avoid unnecessary incisions during surgical operations [23,24].…”

Section: Introductionmentioning

confidence: 99%

Characteristic Evaluation of a Shrouded Propeller Mechanism for a Magnetic Actuated Microrobot

Guo

Zhang

et al. 2015

Micromachines

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Medical microrobots have been widely used in clinical applications, particularly the spiral type locomotion mechanism, which was recently considered one of the main self-propelling mechanisms for the next medical microrobot to perform tasks such as capsule endoscopy and drug delivery. However, limits in clinical applications still exist. The spiral action of the microrobot while being used for diagnosis may lead to pain or even damage to the intestinal wall due to the exposed mechanisms. Therefore, a new locomotive mechanism, named the shrouded propeller mechanism, was proposed to achieve a high level of medical safety as well as effective propulsive performance in our study. The shrouded propeller mechanism consists of a bare spiral propeller and a non-rotating nozzle. To obtain a high effective propulsive performance, two types of screw grooves with different shapes including the cylindrical screw groove and the rectangular screw groove with different parameters were analyzed using the shrouded model. Two types of magnetic actuated microrobots with different driving modes, the electromagnetic (three-pole rotor) actuated microrobot and the permanent magnet (O-ring type magnet) actuated microrobot were designed to evaluate the performance of the electromagnetic actuation system. Based on experimental results, the Micromachines 2015, 6 1273 propulsive force of the proposed magnetic actuated microrobot with a shrouded propeller was larger than the magnetic actuated microrobot with a bare spiral propeller under the same parameters. Additionally, the shrouded propeller mechanism as an actuator can be used for other medical microrobots for flexible locomotion.

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Miniaturized Dual Electromagnetic Oscillatory Actuator for Legged Locomotion of Micro Mobile Robots

Cited by 2 publications

References 6 publications

Design, Modeling, and Simulation of a Novel Electromagnetic Linear Actuator for Linear Motion

Design, Modeling, and Simulation of a Novel Electromagnetic Linear Actuator for Linear Motion

Characteristic Evaluation of a Shrouded Propeller Mechanism for a Magnetic Actuated Microrobot

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