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Actuators based on a controlled particle-matrix interaction in magnetic hybrid materials for applications in locomotion and manipulation systems

  • The paper deals with the investigation of magneto-sensitive elastomers (MSE) and their application in technical actuator systems. MSE consist of an elastic matrix containing suspended magnetically soft and/or hard particles. Additionally, they can also contain silicone oil, graphite particles, thermoplastic components, etc., in various concentrations in order to tune specific properties such as viscosity, conductivity and thermoelasticity, respectively. The focuses of investigations are the beneficial properties of MSE in prototypes for locomotion and manipulation purposes that possess an integrated sensor function. The research follows the principle of a model-based design, i.e. the working steps are ideation, mathematical modelling, material characterization as well as building first functional models (prototypes). The developed apedal (without legs) and non-wheeled locomotion systems use the interplay between material deformations and the mechanical motion in connection with the issues of control and stability. Non-linear friction phenomena lead to a monotonous forward motion of the systems. The aim of this study is the design of such mechanical structures, which reduce the control costs. The investigations deal with the movement and control of ‘intelligent’ mechanisms, for which the magnetically field-controlled particle-matrix interactions provide an appropriate approach. The presented grippers enclose partially gripped objects, which is an advantage for handling sensitive objects. Form-fit grippers with adaptable contour at the contact area enable a uniform pressure distribution on the surface of gripped objects. Furthermore, with the possibility of active shape adaptation, objects with significantly differing geometries can be gripped. To realise the desired active shape adaptation, the effect of field-induced plasticity of MSE is used. The first developed prototypes mainly confirm the functional principles as such without direct application. For this, besides the ability of locomotion and manipulation itself, further technological possibilities have to be added to the systems. The first steps are therefore being taken towards integrated MSE based adaptive sensor systems.

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Metadaten
Author:Jhohan ChavezORCiDGND, Valter BöhmGND, Tatiana I. Becker, Simon Gast, Igor Zeidis, Klaus Zimmermann
DOI:https://doi.org/10.1515/psr-2019-0087
Parent Title (English):Physical Sciences Reviews
Publisher:de Gruyter
Document Type:Article
Language:English
Year of first Publication:2020
Release Date:2022/01/31
Tag:apedal locomotion systems; field-controlled particle-matrix interaction; field-induced plasticity; form-fit gripper; integrated sensor-actuator systems; magneto-sensitive elastomer
Volume:7
Issue:11
Article Number:20190087
First Page:1263
Last Page:1290
Institutes:Fakultät Maschinenbau
Fakultät Maschinenbau / Labor Finite-Elemente-Methode (FEM)
Begutachtungsstatus:peer-reviewed
research focus:Produktion und Systeme
OpenAccess Publikationsweg:Hybrid Open Access - OA-Veröffentlichung in einer Subskriptionszeitschrift/-medium
Licence (German):Creative Commons - CC BY-NC-ND - Namensnennung - Nicht kommerziell - Keine Bearbeitungen 4.0 International