We found a match
Your institution may have access to this item. Find your institution then sign in to continue.
- Title
Magnetically Deployable Robots Using Layered Lamina Emergent Mechanism.
- Authors
Giang, Tran Nguyen Lam; Cai, Catherine Jiayi; Ponraj, Godwin; Ren, Hongliang
- Abstract
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.
- Publication
Applied Sciences (2076-3417), 2022, Vol 12, Issue 1, p14
- ISSN
2076-3417
- Publication type
Academic Journal
- DOI
10.3390/app12010014