Reiche Marius, Becker Tatiana I, Stepanov Gennady V, Zimmermann Klaus
Technical Mechanics Group, Faculty of Mechanical Engineering, Technische Universität Ilmenau, Ilmenau, Germany.
State Scientific Research Institute for Chemical Technologies of Organoelement Compounds, Moscow, Russia.
Soft Robot. 2023 Aug;10(4):770-784. doi: 10.1089/soro.2022.0106. Epub 2023 Apr 3.
Smart materials such as magnetoactive elastomers (MAEs) combine elastic and magnetic properties that can be significantly changed in response to a magnetic field and therefore offer enormous potential for applications in both scientific research and engineering. When such an elastomer contains microsized hard magnetic particles, it can become an elastic magnet once magnetized in a strong magnetic field. This article studies a multipole MAE with the aim of utilizing it as an actuation element of vibration-driven locomotion robots. The elastomer beam has three magnetic poles overall with the same poles at the ends and possesses silicone bristles protruding from its underside. The quasi-static bending of the multipole elastomer in a uniform magnetic field is investigated experimentally. The theoretical model exploits the magnetic torque to describe the field-induced bending shapes. The unidirectional locomotion of the elastomeric bristle-bot is realized in two prototype designs using magnetic actuation of either an external or an integrated source of an alternating magnetic field. The motion principle is based on cyclic interplay of asymmetric friction and inertia forces caused by field-induced bending vibrations of the elastomer. The locomotion behavior of both prototypes shows a strong resonant dependency of the advancing speed on the frequency of applied magnetic actuation.
智能材料，如磁活性弹性体（MAEs），兼具弹性和磁性，其性能可因磁场作用而显著改变，因而在科研和工程领域都具有巨大的应用潜力。当这种弹性体包含微米级硬磁颗粒时，在强磁场中磁化后它就能成为弹性磁体。本文研究一种多极磁活性弹性体，旨在将其用作振动驱动移动机器人的驱动元件。该弹性体梁总共具有三个磁极，两端磁极相同，且其下侧有硅树脂刷毛伸出。对多极弹性体在均匀磁场中的准静态弯曲进行了实验研究。理论模型利用磁转矩来描述磁场诱导的弯曲形状。在两个原型设计中，通过外部或集成交变磁场源的磁驱动实现了弹性刷毛机器人的单向移动。运动原理基于由弹性体磁场诱导弯曲振动引起的不对称摩擦力和惯性力的循环相互作用。两个原型的移动行为均显示前进速度对施加磁驱动频率有很强的共振依赖性。
