Becker, Tatiana

Reiche, Marius

Zentner, Lena

English

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   TU Ilmenau | Universitätsbibliothek | ilmedia, 2024 https://www.tu-ilmenau.de/ilmedia  Reiche, Marius; Zentner, Lena; Becker, Tatiana:  Mobile robots based on multipole magnetoactive elastomer for controllable planar locomotion Original erschienen in: The XIV. European Magnetic Sensors and Actuators Conference - EMSA 2024 : June 24-27, 2024, Košice, Slovakia : books of abstracts – Košice : ŠafárikPress Publishing – 2024, S. 39-40. Konferenz: 14. European Magnetic Sensors and Actuators Conference (EMSA) (Košice, 24.-27.06.2024) ISBN: 978-80-574-0340-1 Original erschienen am: 2024-06-24 DOI: 10.33542/EMSA-0340-1  [Gesehen: 2024-12-16]  Dieser Beitrag ist unter einer Creative Commons Namensnennung – Nicht kommerziell – KeineBearbeitungen 4.0 International lizenziert.  Eine Kopie dieser Lizenz finden Sie unter   https://creativecommons.org/licenses/by-nc-nd/4.0/  DOI:  10.22032/dbt.64203 URN: urn:nbn:de:gbv:ilm1-2024200177 The XIV. European Magnetic Sensors and Actuators Conference,June 24–27, 2024, Košice, SlovakiaO-02-4 Mobile Robots Based on Multipole Magnetoactive Elastomerfor Controllable Planar LocomotionMarius Reiche 1,*, Lena Zentner 1, Tatiana Becker 125.06.2024, Tuesday10:15–10:30Topic 4Magnetic actuators1 Mechanics of Compliant Systems Group, Faculty of Mechanical Engineering, Technische Universität Ilmenau,98684 Ilmenau, Germany* presenting author email: marius.reiche@tu-ilmenau.deMagnetoactive elastomers (MAEs) consist of an elastic matrix with embedded micron-sized soft and/or hard magnetic particles. Such elastomers change their mechanicaland rheological properties under the influence of external or internal magnetic fields. Themagnetization of MAEs with hard magnetic particles in a strong magnetic field enables toproduce elastic permanent magnets.Magnetized MAEs are promising for use in the field of soft robotics. Motion systemsrealized using MAEs can achieve movement with a minimum number of actuators. In thiswork, the locomotion systems are made of a special type of MAEs as a functional element.We use beam-shaped MAEs, which are synthesized from a mixture of hard and soft mag-netic particles. The MAE beams are permanently magnetized in a way that there is a southpole in the middle and a north pole at each end. The motion principle of the locomotionsystems is based on the magnetic-field-induced bending deformation of the magnetizedbeam. The alternating magnetic field causing the beam deformation is generated by anelectromagnetic coil integrated into the robot’s casing. Silicone bristles on the undersideof the MAE beam provide asymmetrical friction conditions. Due to the cyclic interplayFigure 1: Locomotion system for planar movement, left: top view, right: side view.DOI: https://doi.org/10.33542/EMSA-0340-1 39Oral Presentationsof friction forces and inertial forces caused by periodic bending, the robot shifts its posi-tion in each cycle and thereby moves forward. The movement speed is strongly depen-dent on the actuating frequency, with a maximum speed being achieved in the resonancerange [1]. The use of two MAE functional elements, that are positioned parallel and mirror-symmetrical to each other, enables movement in a plane (Fig. 1). The principle of skid-steer is utilised. The movement speed along a curved path is determined by the choice oftwo actuating frequencies of the coils. The developed locomotion systems demonstrategood maneuverability and controllability. Their actuation method makes it easy to changethe translational speed and yaw angle, making such systems suitable for use in complexoperating conditions.Acknowledgement The work is funded by the Deutsche Forschungsgemeinschaft (DFG), projectBE-6553/2-1.References[1] M. Reiche, T. I. Becker, G. V. Stepanov, and K. Zimmermann, “A Multipole Magnetoactive Elas-tomer for Vibration-Driven Locomotion,” Soft Robotics, vol. 10, no. 4. Mary Ann Liebert Inc,pp. 770–784, Aug. 01, 2023. doi: 10.1089/soro.2022.0106.40 EMSA 2024 – Book of Abstracts

Mobile robots based on multipole magnetoactive elastomer for controllable planar locomotion

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Mobile robots based on multipole magnetoactive elastomer for controllable planar locomotion

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