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

Markus P Nemitz1, Pavel Mihaylov1, Thomas W Barraclough1

  • 1Stokes Research Group, Institute for Integrated Micro and Nano Systems, School of Engineering, The University of Edinburgh , Edinburgh, United Kingdom .

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Summary
This summary is machine-generated.

This study introduces a modular, worm-like robot using voice coils for actuation, offering enhanced self-sufficiency. This novel design enables locomotion, data transmission, and power transfer in soft robotic systems.

Keywords:
modular roboticsmultidimensional actuatorvoice coil actuator

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Area of Science:

  • Robotics
  • Biomimetic Engineering
  • Materials Science

Background:

  • Existing soft robot actuation methods (pneumatics, hydraulics) often lack self-sufficiency.
  • Modular designs are crucial for adaptable and scalable robotic systems.
  • Voice coil actuators offer potential for multifunctional applications in robotics.

Purpose of the Study:

  • To present a novel modular worm-like robot actuated by voice coils.
  • To demonstrate the self-sufficiency and multifunctionality of voice coil actuators in soft robotics.
  • To explore the potential for data and power transfer within a modular soft robot system.

Main Methods:

  • Developed a modular robot with 3D-printed voice coil actuators and silicone membranes, inspired by Annelida.
  • Implemented integrated drive electronics within the voice coil actuators.
  • Investigated peristaltic motion through sequential actuation of modules.
  • Demonstrated data transmission via high-frequency carrier waves and power transfer between modules.

Main Results:

  • Achieved earthworm-inspired peristaltic locomotion using voice coil actuation.
  • Confirmed a minimum of three segments are necessary for effective locomotion.
  • Demonstrated successful high-frequency data transmission and power transfer between connected modules.
  • Highlighted the self-contained nature and communication capabilities of the voice coil actuators.

Conclusions:

  • Voice coil actuators represent a versatile and self-sufficient alternative for soft robot actuation.
  • The modular design facilitates easy assembly and scalability for robots of varying lengths.
  • Integrated voice coils offer significant advantages for future highly integrated and functional soft robotic systems, including communication and power transfer.