A novel frequency tuned wireless actuator with snake-like motion

Kewei Zhang,Qianke Zhu,Yuesheng Chai

doi:10.1063/1.4958877

Kewei Zhang, Qianke Zhu + Show 1 more

Open Access

https://doi.org/10.1063/1.4958877

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Journal: AIP Advances	Publication Date: Jul 1, 2016
Citations: 1	License type: CC BY 4.0

Affiliation: Taiyuan University of Science and Technology

Abstract

In this work, we propose a novel wireless actuator which is composed of magnetostrictive material/copper bi-layer film. The actuator can be controlled to move like a snake bi-directionally along a pipe by tuning the frequency of external magnetic field near its first order resonant frequency. The governing equation for the actuator is established and the vibration mode shape function is derived. Theoretical analysis shows that motion of the actuator is achieved by asymmetric vibration mode shape, specific vibration bending deformation, and effective net total impacting force. The simulation and experimental results well confirm the theoretical analysis. This work provides contribution to the development of wireless micro robots and autonomous magnetostrictive sensors.

Highlights

There have been increasing demands of actuators for micro robots in the applications of industrial inspection and bio-medical fields.[1]
We propose a novel wireless actuator which is composed of magnetostrictive material/copper bi-layer film
Theoretical analysis shows that motion of the actuator is achieved by asymmetric vibration mode shape, specific vibration bending deformation, and effective net total impacting force

Summary

INTRODUCTION

There have been increasing demands of actuators for micro robots in the applications of industrial inspection and bio-medical fields.[1]. The three-legged robot,[4] myriapod-like robot,[5] and stick-slip-jump robot[6] were developed by piezoelectric effect. Actuators utilizing electromagnetic effect offer the advantages of wireless motion and free of power source. Inchworm robots,[7,8] tadpole robot,[9] and fish-like micro robots[10,11] were developed by electromagnetic effect. To find novel motion mechanism for robots with simple structure designs is a still big challenge to us. We discovered a wireless motion phenomenon for a magnetostrictive strip in an alternative magnetic field at specific frequencies.[12] The motion was achieved by magnetostriction effect and asymmetric vibration mode shape. Actuator; Section IV is the theoretical and derivation; Section V is the experimental result and analysis; Section VI presents the conclusion

DESIGN AND FABRICATION OF THE ACTUATOR

MOTION MECHANISM OF THE ACTUATOR

THEORY AND DERIVATION

E ASA EBSB and φ4

Experimental setup

Results and analysis

CONCLUSION