Abstract

We develop a solenoid actuator with a ferromagnetic plunger to generate both rectilinear and turning motions of a multi-segmented robot. Each segment of the miniaturized robot is actuated by a pair of solenoids, and in-phase and out-of-phase actuations of the solenoid pair cause the linear and turning motions. The theoretical analysis on the actuation force by the solenoid with the magnetic plunger is implemented based on the Biot-Savart law. The optimal design parameters of the solenoid are determined to actuate a segmented body. We manufacture the miniaturized robot consisting of two segments and a pair of solenoids. Experiments are performed to measure the linear and angular displacements of the two-segmented robot for various frictional conditions.

Details

Title
Design of a Solenoid Actuator with a Magnetic Plunger for Miniaturized Segment Robots
Author
Chang-Woo, Song
First page
595
Publication year
2015
Publication date
2015
Publisher
MDPI AG
e-ISSN
20763417
Source type
Scholarly Journal
Language of publication
English
DOI
https://doi.org/10.3390/app5030595
ProQuest document ID
2539317242
Copyright
© 2015 by the authors; licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution license (http://creativecommons.org/licenses/by/4.0/). Notwithstanding the ProQuest Terms and Conditions, you may use this content in accordance with the terms of the License.