A Magneto-Active Elastomer Crawler with Peristaltic and Caterpillar Locomotion Patterns
| Autor: | Hemma Philamore, Tsam Lung You, Fumitoshi Matsuno |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2021 |
| Předmět: |
soft robotics
magnetoelasticity Control and Optimization Computer science InformationSystems_INFORMATIONSTORAGEANDRETRIEVAL Soft robotics soft actuators Crawling Smart material lcsh:Production of electric energy or power. Powerplants. Central stations Control and Systems Engineering smart materials lcsh:TK1001-1841 lcsh:TA401-492 Data_FILES Robot lcsh:Materials of engineering and construction. Mechanics of materials Web crawler magneto-active elastomer Magneto Simulation |
| Zdroj: | Actuators Volume 10 Issue 4 Actuators, Vol 10, Iss 74, p 74 (2021) |
| ISSN: | 2076-0825 |
| DOI: | 10.3390/act10040074 |
| Popis: | In this work we present a soft crawler fabricated using a magneto-active elastomer. The crawler is controlled by an external magnetic field to produce two locomotion patterns: peristaltic and caterpillar crawling. Due to its structural simplicity, low mass, wirelessly controlled actuation and compliant body the design of this crawler has the potential to address the key challenges faced by existing crawling robots. Experimental data were gathered to evaluate the performance of the crawler locomotion in a pipe. The results validated the mathematical models proposed to estimate the distance traveled by the crawler. The crawler shows potential for use in exploration of confined spaces. |
| Databáze: | OpenAIRE |
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