Abstract
In this study, we present a modular worm-like robot, which utilizes voice coils as a new paradigm in soft robot actuation. Drive electronics are incorporated into the actuators, providing a significant improvement in self-sufficiency when compared with existing soft robot actuation modes such as pneumatics or hydraulics. The body plan of this robot is inspired by the phylum Annelida and consists of three-dimensional printed voice coil actuators, which are connected by flexible silicone membranes. Each electromagnetic actuator engages with its neighbor to compress or extend the membrane of each segment, and the sequence in which they are actuated results in an earthworm-inspired peristaltic motion. We find that a minimum of three segments is required for locomotion, but due to our modular design, robots of any length can be quickly and easily assembled. In addition to actuation, voice coils provide audio input and output capabilities. We demonstrate transmission of data between segments by high-frequency carrier waves and, using a similar mechanism, we note that the passing of power between coupled coils in neighboring modules—or from an external power source—is also possible. Voice coils are a convenient multifunctional alternative to existing soft robot actuators. Their self-contained nature and ability to communicate with each other are ideal for modular robotics, and the additional functionality of sound input/output and power transfer will become increasingly useful as soft robots begin the transition from early proof-of-concept systems toward fully functional and highly integrated robotic systems.
Highlights
Voice coils are a convenient multifunctional alternative to existing soft robot actuators. Their selfcontained nature and ability to communicate with each other are ideal for modular robotics, and the additional functionality of sound input/output and power transfer will become increasingly useful as soft robots begin the transition from early proof-of-concept systems toward fully functional and highly integrated robotic systems
We report on the use of voice coil actuators for soft robots, and we demonstrate a fully modular system, which meets three of these four criteria
We developed a modular soft robot consisting of elastomeric segments, which are actuated by voice coils: these consist of electromagnetic coils positioned to oppose
Summary
The soft robotics community is continuing to make great strides in developing this emerging new class of machines. Many of the reported designs take inspiration from soft-bodied invertebrate animals such as octopi, and in this article, we continue that trend by exploring a new source of inspiration: earthworms. We previously reported[3] that to explore unstable or hazardous environments, soft robots must possess the following characteristics: (i) be capable of locomotion; (ii) be capable of movement on unstable terrain such as sand; (iii) be sufficiently inexpensive that they can be abandoned if damaged or contaminated; and (iv) be equipped with sensors and communications systems. Our system is designed to be completely self-sufficient and with the capacity for locomotion, sensing, communication, and wireless power transfer
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