NDLI: Inchworm-like robot locomotion using segmented solenoids

Content Provider	IEEE Xplore Digital Library
Author	Bu Hyun Shin Young-Bong Bang Seung-Wook Choi Seung-Yop Lee
Copyright Year	2010
Description	Author affiliation: Advanced Institutes of Convergence Technolgy, Gyeonggi-do, South Korea (Young-Bong Bang) \|\| Mechanical Engineering Department, Sogang University, Seoul, South Korea (Bu Hyun Shin; Seung-Wook Choi; Seung-Yop Lee)
Abstract	We have developed a new biomimetic actuator for micro robots using inchworm-like segmented solenoids. The electromagnetic impulse-driven micro actuator is composed of 4 solenoids, guide and stopper. We have analyzed the locomotive motion theoretically and numerically, resulted from the sequential impulses by the segmented solenoids. Based on the theoretical results, we have optimized the design parameters such as geometry and materials and control method, and we have manufactured a prototype with a 4-parts segment of 10 mm in diameter and 12mm in length per part. It is shown in experiments that the impulse-driven actuation using electromagnetic force is useful and effective for micro robot locomotion. Since the force and displacement measured in experiments meet the required performance, the new inchworm locomotion can be applied on medical or industrial inspection robot.
Starting Page	367
Ending Page	372
File Size	565099
Page Count	6
File Format	PDF
ISBN	9781424480319
e-ISBN	9781424480326
DOI	10.1109/AIM.2010.5695872
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-07-06
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mechatronics Conferences
Content Type	Text
Resource Type	Article

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