DEVELOPING EXTERNAL MAGNETICALLY ACTUATION MODEL IN MICRO SCALE FOR A SELF-RECONFIGURABLE ROBOTIC SYSTEM

Abstract

Self-reconfigurable modular robots (SRMRs) are considered as autonomous kinematic machines that can change their own shape by rearranging the connectivity of their parts to perform new tasks, adapt to new circumstances or recover from damage. One of the main goals in SRMRs field is to reach to a million modules integrated self-reconfigurable systems. However, miniaturization efforts in self-reconfigurable modular robots bring some challenges such as storage and packaging. Developing externally actuated micro-robots can be a good alternative for miniaturization of SRMRs with the help of rapid enhancements in micro-manufacturing technologies encountered in the last decades. In this study a novel self-reconfiguration mechanism for micro-robots that are externally actuated by magnetic actuators is developed. In the study the motion of the magnets inside the microtubes under the effect of external magnetic field is investigated by using finite elements method. Dynamic model of the mechanism is obtained by using finite elements method and its applicability is exhibited by simulations. The results are compared with the theoretical values. It is envisioned that the study will contribute to micro-robotic systems in industry, defense industry and space missions as well as biomedical applications and medical robots.