Inchworm-like robot locomotion using segmented solenoids

We have developed a new biomimetic actuator for micro robots using inchworm-like segmented solenoids. The electromagnetic impulse-driven micro actuator is composed of 4 solenoids, guide and stopper. We have analyzed the locomotive motion theoretically and numerically, resulted from the sequential impulses by the segmented solenoids. Based on the theoretical results, we have optimized the design parameters such as geometry and materials and control method, and we have manufactured a prototype with a 4-parts segment of 10 mm in diameter and 12mm in length per part. It is shown in experiments that the impulse-driven actuation using electromagnetic force is useful and effective for micro robot locomotion. Since the force and displacement measured in experiments meet the required performance, the new inchworm locomotion can be applied on medical or industrial inspection robot.