Using Voice Coils to Actuate Modular Soft Robots: Wormbot, an Example.

ABSTRACT: In this study, we present a modular worm-like robot, which utilizes voice coils as a new paradigm in soft robot actuation. Drive electronics are incorporated into the actuators, providing a significant improvement in self-sufficiency when compared with existing soft robot actuation modes such as pneumatics or hydraulics. The body plan of this robot is inspired by the phylum Annelida and consists of three-dimensional printed voice coil actuators, which are connected by flexible silicone membranes. Each electromagnetic actuator engages with its neighbor to compress or extend the membrane of each segment, and the sequence in which they are actuated results in an earthworm-inspired peristaltic motion. We find that a minimum of three segments is required for locomotion, but due to our modular d

SUBMITTER: Nemitz MP 

PROVIDER: S-EPMC5180079 | biostudies-literature | 2016 Dec

REPOSITORIES: biostudies-literature