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"Magnetic marshmallows" for soft robotics: magneto-mechanical characterization and application in switchable adhesion

Maxime Bès1, Samuel Lamont2, Azadeh Dufour-Lamartinie1,2

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We developed novel magnetic elastomer foams that can be compressed and expanded by magnetic fields. These compressible actuators show potential for switchable adhesion applications.

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Area of Science:

  • Materials Science
  • Soft Robotics
  • Polymer Science

Background:

  • Soft magnetic composites offer programmable deformation for soft robotics and switchable surfaces.
  • Incompressible soft actuators face challenges with shape changes during compression or elongation, limiting actuation modes.
  • Bending and folding are preferred actuation modes for current soft actuators.

Purpose of the Study:

  • To explore magnetic elastomer foams as compressible actuators with a low Poisson's ratio.
  • To investigate the compression and shape change behavior of these novel magnetic foams.
  • To develop a switchable adhesion structure utilizing these compressible magnetic actuators.

Main Methods:

  • Fabrication of polydimethylsiloxane (PDMS) foams with open porosity using a sacrificial salt pellet template method.
  • Incorporation of carbonyl iron particles into the PDMS foam matrix.
  • Characterization of reversible compression under magnetic field gradients and development of an analytical model.

Main Results:

  • The fabricated magnetic foams exhibit strong, reversible compression in response to magnetic field gradients.
  • Stress accumulation along the field gradient direction and foam thickness significantly influence magnetic strain.
  • A simple analytical model based on magnetic body force effectively explains the observed compression effects.

Conclusions:

  • Magnetic elastomer foams with low Poisson's ratio are viable compressible actuators.
  • The study elucidates the role of magnetic body forces and foam geometry in actuation.
  • A novel switchable adhesion structure was successfully demonstrated using the magnetic foam actuator.