MagBot: Reconfigurable Modular Soft Pneumatic Actuators with Tunable Magnetic Connection Mechanism

Joshua Knospler, Wei Xue, Mitja Trkov

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Soft robots are growing in demand due to their inherent soft nature, compliance, and versatility. These attributes make them ideal for a large range of applications. To further expand the applications of soft robotics, we present a reconfigurable modular soft robotic actuator capable of easy reconfigurations and multi-actuator assembly for versatile tasks using a single actuator design. In this paper, we introduce a novel inter-unit connection mechanism that expands the reconfiguration capabilities of our soft modular robots. The mechanism includes magnets that can semi-permanently reverse their polarity on demand to achieve tunable magnetic connections without the need to supply constant electric current. The mechanism is made from a flexible material allowing articulated connections, which enables complex spatial configuration in a multi-actuator assembly. In addition, the mechanism allows various inter-unit connections, including air, mechanical, and electrical, that reduce the complexity of operation and reconfigurability. These connections enable a multi-actuator assembly to share a single actuation source, that simplifies the design and increases the functionality. We characterize the mechanical performance of individual actuators and the connection mechanism through experiments. Examples of structural configurations are presented to demonstrate the actuators' reconfiguration capabilities.

Original languageEnglish (US)
Title of host publication2024 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2024
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1284-1289
Number of pages6
ISBN (Electronic)9798350355369
DOIs
StatePublished - 2024
Event2024 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2024 - Boston, United States
Duration: Jul 15 2024Jul 19 2024

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
ISSN (Print)2159-6247
ISSN (Electronic)2159-6255

Conference

Conference2024 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2024
Country/TerritoryUnited States
CityBoston
Period7/15/247/19/24

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications
  • Software

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