Kresling Magnetic Soft Robotics
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Publisher:The Ohio State University
Series/Report no.:The Ohio State University. Department of Mechanical and Aerospace Engineering Honors Theses; 2021
Due to a greater variety of applications required for robotics, soft robotics has been studied because of its untethered control, fast transformation, and biocompatibility. Soft magnetic material was developed by embedding hard magnets into a silicone-based soft matrix. Once programmed, the material provides magnetic torque remotely. However, with the simple geometry and structural design of the magnetic soft material, the system is always limited to simple deformations, such as bending and folding. To improve the capability of the system, origami structures were incorporated into the magnetic material in our current work. By putting magnetically programmed materials on the origami structures, the deformation of the system can be controlled using three-dimensional magnetic fields. The system can, therefore, achieve multiple deformation modes, such as elongation, bending, and sequential folding. Our experimental results are proof of this concept. For Kresling origami structures, the heights vary based on the torque generated by the magnetic fields. By switching the materials used and the designs of the creases, the properties can be changed and controlled. Different types of structures can be used for robotics in various applications. This study can be used in many applications, such as the composition of a soft robotic system.
Academic Major: Mechanical Engineering
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