Abstract
The aim of this study is to investigate the turning locomotion of a worm-like robot using four segmented solenoids. The electromagnetic force driven worm-like robot is composed of four solenoids, a compliance guide, and a tendon-driven mechanism. The structure of the actuator in the robot mimics the muscular structure and locomotion of an earthworm. The turning motion of the robot has been analyzed both theoretically and numerically. Electromagnetic force and friction force govern the motion of the robot. The prototype of the robot was fabricated based on the simulation study, and its performance was compared to the simulation study. The robot is able to turn along a guide of 1° with a friction of 0.5 and 500 A-turn. It was demonstrated that the worm-like robot achieved turning locomotion.
| Original language | English |
|---|---|
| Pages (from-to) | 501-506 |
| Number of pages | 6 |
| Journal | Transactions of the Korean Society of Mechanical Engineers, A |
| Volume | 43 |
| Issue number | 7 |
| DOIs | |
| Publication status | Published - Jul 2019 |
Keywords
- Bio-Mimetics
- Elctromagnetic Actuator
- Miniaturized Robot
- Worm Robot