Multiphysics Simulation of Magnetically Actuated Robotic Origami Worms

Abstract

Multiphysics simulation of magnetically actuated origami robots promises a range of applications such as synthetic data generation, design parameter optimization, predicting the robot's performance, and implementing various control algorithms, but it has rarely been explored. This letter presents a realistic multiphysics simulation of magnetically actuated origami robots with focus on real-time interactions between the origami and magnets. Due to the interaction between multiple magnets, the complex motion dynamics of a worm-like robot are generated and analyzed. We further show the possibility of accurately simulating origami structures made of different materials and permanent magnets of different shapes, sizes, and magnetic strength. The simulation's unknown parameters are determined by conducting similar practical and simulated experiments and comparing their characteristics. Further, we show the close resemblance between the real and simulated behavior of the origami robot.