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Soft Electromagnetic Motor and Soft Magnetic Sensors for Synchronous Rotary Motion.

Noah D Kohls1, Roman Balak1, Bryan P Ruddy2

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This study introduces a novel soft rotary electromagnetic actuator capable of high speeds and power, overcoming limitations of previous soft actuators. This innovation enables new functionalities for soft robots and hybrid systems.

Keywords:
compliant magnetliquid metal conductorsoft rotary actuatorsoft sensor

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Area of Science:

  • Robotics
  • Materials Science
  • Electromagnetism

Background:

  • Fully-soft robots require fully-soft actuators, but existing soft rotary actuators have limited rotational speeds.
  • This limits their practical applications in various robotic systems.

Purpose of the Study:

  • To develop a novel, fully-soft synchronous rotary electromagnetic actuator and a soft magnetic contact switch sensor.
  • To achieve higher rotational speeds and power output compared to existing soft rotary actuators.

Main Methods:

  • The actuator was constructed using gallium indium liquid metal conductors, compliant permanent magnetic composites, carbon black powders, and flexible polymers.
  • The performance was evaluated based on operating voltage, current, bandwidth, stall torque, and no-load speed.

Main Results:

  • The novel actuator operates at low voltages (<20 V, ≤10 A) with a bandwidth of 10 Hz.
  • It achieves a stall torque of 2.5-3 mN·m and a no-load speed of up to 4000 rpm, significantly exceeding previous soft rotary actuators.
  • Demonstrated applications include soft air blowers, underwater propulsion, water pumps, and sensors, as well as hybrid systems.

Conclusions:

  • The developed soft rotary electromagnetic actuator offers over two orders of magnitude higher speed and one order of magnitude higher power than prior soft rotary actuators.
  • This actuator bridges the gap between traditional hard motors and soft actuator technologies, enabling new soft robot functions.
  • The actuator's ability to stretch and deform allows for novel soft robotic applications and hybrid systems.