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Miniature Soft Electromagnetic Actuators for Robotic Applications
Advanced Functional Materials ( IF 18.5 ) Pub Date : 2018-03-05 , DOI: 10.1002/adfm.201800244 Thanh Nho Do 1 , Hung Phan 2 , Thuc-Quyen Nguyen 2 , Yon Visell 1
Advanced Functional Materials ( IF 18.5 ) Pub Date : 2018-03-05 , DOI: 10.1002/adfm.201800244 Thanh Nho Do 1 , Hung Phan 2 , Thuc-Quyen Nguyen 2 , Yon Visell 1
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Electromagnetic actuators (EMAs) serve the majority of motion control needs in fields ranging from industrial robotics to automotive systems and biomedical devices, due to their unmatched combination of speed, precision, force, and scalability. This paper describes the design and fabrication of miniature soft EMAs that operate based on the Lorentz force principle. The actuators are fabricated from silicone polymer, liquid metal (LM) alloy (eutectic gallium indium, EGaIn), and magnetic (NdFeB) powder. They are small, intrinsically deformable, and can be fabricated using simple techniques. The central elements of the actuators are fine, 3D helical coil conductors, which are used as electromagnetic inductors. The coils are formed from stretchable filaments that are filled with a LM alloy. To achieve high power densities, the filaments themselves may be fabricated from colloids of EGaIn microdroplets in a silicone polymer matrix, allowing them to dissipate heat and accommodate high currents, and thus high forces. Millimeter‐scale cylindrical actuators are demonstrated for linear high frequency motion and articulated devices for bending motion. These actuators are applied in a vibrotactile feedback display and in a miniature soft robotic gripper.
中文翻译：
机器人应用的微型软电磁致动器
电磁执行器（EMA）由于具有无与伦比的速度，精度，力和可扩展性，可满足从工业机器人技术到汽车系统和生物医学设备等领域大多数运动控制需求。本文介绍了基于洛伦兹力原理运行的微型软EMA的设计和制造。执行器由有机硅聚合物，液态金属（LM）合金（共晶镓铟，EGaIn）和磁性（NdFeB）粉末制成。它们很小，本质上是可变形的，并且可以使用简单的技术来制造。执行器的中心元件是精细的3D螺旋线圈导体，用作电磁感应器。线圈由填充有LM合金的可拉伸细丝形成。为了达到高功率密度，灯丝本身可以由EGaIn微滴的胶体在有机硅聚合物基质中制成，从而使其散热，并承受高电流，从而承受较大的力。演示了用于线性高频运动的毫米级圆柱执行器和用于弯曲运动的铰接装置。这些执行器应用于触觉反馈显示器和微型机械手。
更新日期：2018-03-05
中文翻译：
机器人应用的微型软电磁致动器
电磁执行器（EMA）由于具有无与伦比的速度，精度，力和可扩展性，可满足从工业机器人技术到汽车系统和生物医学设备等领域大多数运动控制需求。本文介绍了基于洛伦兹力原理运行的微型软EMA的设计和制造。执行器由有机硅聚合物，液态金属（LM）合金（共晶镓铟，EGaIn）和磁性（NdFeB）粉末制成。它们很小，本质上是可变形的，并且可以使用简单的技术来制造。执行器的中心元件是精细的3D螺旋线圈导体，用作电磁感应器。线圈由填充有LM合金的可拉伸细丝形成。为了达到高功率密度，灯丝本身可以由EGaIn微滴的胶体在有机硅聚合物基质中制成，从而使其散热，并承受高电流，从而承受较大的力。演示了用于线性高频运动的毫米级圆柱执行器和用于弯曲运动的铰接装置。这些执行器应用于触觉反馈显示器和微型机械手。
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