A low cost inchworm actuator for very high force

In this paper, the authors report on the design, construction and testing of an inchworm actuator that delivers several pounds of force at several inches per second. The materials used were insulated copper wire, steel laminations, spring steel, etc., of nominal characteristics and cost. The source of motion in the actuator is an electromagnetically driven, vibrating beam. The basic principle is to utilize two clamps, operating alternately, to capture and rectify the longitudinal extension of the beam as it vibrates transversely. In this model, the clamps were electromagnetically driven mechanical brakes so that the available friction limited the developed force.