NDLI: Magnetically Deployable Robots Using Layered Lamina Emergent Mechanism

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Magnetically Deployable Robots Using Layered Lamina Emergent Mechanism

Content Provider	MDPI
Author	Giang, Tran Nguyen Lam Cai, Catherine Jiayi Ponraj, Godwin Ren, Hongliang
Copyright Year	2021
Description	The steady rise of deployable structures and mechanisms based on kirigami and origami principles has brought about design innovations that yield flexible and lightweight robots. These robots are designed based on desirable locomotion mechanisms and often incorporate additional materials to support their flexible structure to enable load-bearing applications and considerable efficient movement. One tetherless way to actuate these robots is via the use of magnets. This paper incorporates magnetic actuation and kirigami structures based on the lamina emergent mechanism (LEM). Three designs of magnetic-actuated LEMs (triangular prism, single LEM (SLEM), alternating mirror dual LEM (AMDLEM)) are proposed, and small permanent magnets are attached to the structures’ flaps or legs that rotate in response to an Actuating Permanent Magnet (APM) to yield stick-slip locomotion, enabling the robots to waddle and crawl on a frictional surface. For preliminary characterization, we actuate the three designs at a frequency of 0.6 Hz. We observed the triangular prism, SLEM, and AMDLEM prototypes to achieve horizontal speeds of 4.3 mm/s, 10.7 mm/s, and 12.5 mm/s on flat surfaces, respectively. We further explore how changing different parameters (actuation frequency, friction, leg length, stiffness, compressibility) affects the locomotion of the different mechanisms.
Starting Page	14
e-ISSN	20763417
DOI	10.3390/app12010014
Journal	Applied Sciences
Issue Number	1
Volume Number	12
Language	English
Publisher	MDPI
Publisher Date	2021-12-21
Access Restriction	Open
Subject Keyword	Applied Sciences Robotics Origami Robots Kirigami Robots Magnetic Actuation Lamina Emergent Mechanisms Locomotion
Content Type	Text
Resource Type	Article

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