Abstract
This paper presents the design and implementation of MagPlunge, a novel solenoid actuator featuring a magnetic plunger, specifically tailored for miniature segment robots. Leveraging the unique properties of magnetic forces, the MagPlunge actuator offers enhanced performance, compactness, and energy efficiency compared to traditional solenoid designs. The design considerations, fabrication process, and experimental characterization of the MagPlunge actuator are discussed in detail. Additionally, its integration into miniature segment robots is demonstrated, showcasing its potential for enabling agile and versatile robotic locomotion in confined spaces and challenging environments.
Keywords:
Solenoid actuator, Magnetic plunger, Miniature robots
References
Trivedi, D.; Rahn, C.; Kier, W.; Walker, D. Soft robotics: Biological inspiration, state of the art and future research. Appl. Bionics Biomech. 2008, 5, 99–117.
Hosokawa, D.; Ishikawa, T.; Morikawa, H.; Imai, Y.; Yamaguchi, T. Development of a biologically inspired locomotion system for a capsule endoscope. Int. J. Med. Robotics Comput. Assist. Surg. 2009, 5, 471–478.
Suzumori, K.; Miyagawa, T.; Kimura, M.; Hasegawa, Y. Micro inspection robot for 1-in pipes. IEEE/AMSE Trans Mech. 1999, 4, 286–292.
Shin, B.H.; Oh, D.; Lee, S.-Y. A two-dimensional laser scanning mirror using motion-decoupling electromagnetic actuators. Sensors 2013, 13, 4146–4156.
Shin, B.H.; Lee, K.-M.; Lee, S.-Y. A miniaturized tadpole robot using an electromagnetic oscillatory actuator. J. Bionic Eng. 2015, 13, 29–36.
Lequesne, B. Fast-acting long-stroke bistable solenoid with moving permanent magnets. IEEE Trans. Ind. Appl. 1990, 26, 401–407.
Ebihara, D.; Watada, M. Development of a Single-winding linear oscillatory actuator. IEEE Trans. Magn. 1992, 28, 3030–3032.
Bammesberger, S.B.; Kartmann, S.; Tanguy, L.; Liang, D.; Mutschler, K.; Ernst, A.; Zengerle, R.; Koltay, P. A low-cost, normally closed, solenoid valve for non-contact dispensing in the sub-μL range. Micromachines 2013, 4, 9–21.
Kartmann, S.; Koltay, P.; Zengerle, R.; Ernst, A. A disposable dispensing valve for non-contact microliter applications in a 96-well plate format. Micromachines 2015, 6, 423–436.
Shin, B.H.; Choi, S.W.; Bang, Y.B.; Lee, S.-Y. An earthworm-like actuator using segmented solenoids. Smart Mater. Struct. 2011.
Furlani, E.P. Permanent Magnet and Electromechanical Devices, 1st ed.; Academic Press: Waltham, MA, USA, 2001; pp. 1–205.
