Soft electromagnetic actuator for assembly robots

Robots equipped with an assembly system have significant potential and value because they allow simple modules to be assembled in various forms. A new type of soft assembly robot was recently created by combining a soft robot and an assembly system. In this paper, we introduce an assemblable electromagnetic soft actuator made of silicone. Silicone is very soft and stretchable, and is made to react with electromagnets by mixing with iron oxide. The motion is controlled by the force applied to the electromagnets attached to the floor. A fast and accurate response is displayed according to the input amplitude and frequency. In addition, the range of motion is significant. When the power applied by a single actuator is 9V 1A, the motion is approximately 2.62mm, which is 93.6 % of the entire actuator height, the maximum value that can be moved structurally. Above all, the actuator can be connected to the y- and z-axes without additional line connections to create the desired assembly structure. An additional wire connection is required for the x-axis connection. At the moment a connection is made, the actuators move in accordance with the input signal and all movements are conducted under little voltages.