Design of a Solenoid Actuator with a Magnetic Plunger for Miniaturized Segment Robots

Applied Sciences

Chang-Woo Song²  Seung-Yop Lee¹ 

[1] Department of Mechanical Engineering, Sogang University, 1 Shinsu-dong, Mapo-gu, Seoul 121-742, Korea; E-Mail

关键词: solenoid;    electromagnetic actuator;    segmented robot;    miniaturized robot;    permanent magnet plunger;   

DOI  :  10.3390/app5030595

来源: mdpi

【 摘 要 】

We develop a solenoid actuator with a ferromagnetic plunger to generate both rectilinear and turning motions of a multi-segmented robot. Each segment of the miniaturized robot is actuated by a pair of solenoids, and in-phase and out-of-phase actuations of the solenoid pair cause the linear and turning motions. The theoretical analysis on the actuation force by the solenoid with the magnetic plunger is implemented based on the Biot-Savart law. The optimal design parameters of the solenoid are determined to actuate a segmented body. We manufacture the miniaturized robot consisting of two segments and a pair of solenoids. Experiments are performed to measure the linear and angular displacements of the two-segmented robot for various frictional conditions.

【 授权许可】

CC BY   
© 2015 by the authors; licensee MDPI, Basel, Switzerland.