Kirigami Makes a Soft Magnetic Sheet Crawl
Abstract Limbless crawling on land requires breaking symmetry of the friction with the ground and exploiting an actuation mechanism to generate propulsive forces. Here, kirigami cuts are introduced into a soft magnetic sheet that allow to achieve effective crawling of untethered soft robots upon app...
| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2023-09-01
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| Series: | Advanced Science |
| Subjects: | |
| Online Access: | https://doi.org/10.1002/advs.202301895 |
| _version_ | 1797692643780591616 |
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| author | Pierre Duhr Yuki A. Meier Alireza Damanpack Julia Carpenter André R. Studart Ahmad Rafsanjani Ahmet F. Demirörs |
| author_facet | Pierre Duhr Yuki A. Meier Alireza Damanpack Julia Carpenter André R. Studart Ahmad Rafsanjani Ahmet F. Demirörs |
| author_sort | Pierre Duhr |
| collection | DOAJ |
| description | Abstract Limbless crawling on land requires breaking symmetry of the friction with the ground and exploiting an actuation mechanism to generate propulsive forces. Here, kirigami cuts are introduced into a soft magnetic sheet that allow to achieve effective crawling of untethered soft robots upon application of a rotating magnetic field. Bidirectional locomotion is achieved under clockwise and counterclockwise rotating magnetic fields with distinct locomotion patterns and crawling speed in forward and backward propulsions. The crawling and deformation profiles of the robot are experimentally characterized and combined with detailed multiphysics numerical simulations to extract locomotion mechanisms in both directions. It is shown that by changing the shape of the cuts and orientation of the magnet the robot can be steered, and if combined with translational motion of the magnet, complex crawling paths are programed. The proposed magnetic kirigami robot offers a simple approach to developing untethered soft robots with programmable motion. |
| first_indexed | 2024-03-12T02:31:32Z |
| format | Article |
| id | doaj.art-12ee96ee44204234abb36a9fed134460 |
| institution | Directory Open Access Journal |
| issn | 2198-3844 |
| language | English |
| last_indexed | 2024-03-12T02:31:32Z |
| publishDate | 2023-09-01 |
| publisher | Wiley |
| record_format | Article |
| series | Advanced Science |
| spelling | doaj.art-12ee96ee44204234abb36a9fed1344602023-09-05T07:49:09ZengWileyAdvanced Science2198-38442023-09-011025n/an/a10.1002/advs.202301895Kirigami Makes a Soft Magnetic Sheet CrawlPierre Duhr0Yuki A. Meier1Alireza Damanpack2Julia Carpenter3André R. Studart4Ahmad Rafsanjani5Ahmet F. Demirörs6Complex Materials Department of Materials ETH Zurich Zurich CH‐8092 SwitzerlandComplex Materials Department of Materials ETH Zurich Zurich CH‐8092 SwitzerlandDepartment of Mechanical and Electrical Engineering University of Southern Denmark Odense 5230 DenmarkComplex Materials Department of Materials ETH Zurich Zurich CH‐8092 SwitzerlandComplex Materials Department of Materials ETH Zurich Zurich CH‐8092 SwitzerlandSDU Soft Robotics SDU Biorobotics The Maersk Mc‐Kinney Moller Institute University of Southern Denmark Odense 5230 DenmarkComplex Materials Department of Materials ETH Zurich Zurich CH‐8092 SwitzerlandAbstract Limbless crawling on land requires breaking symmetry of the friction with the ground and exploiting an actuation mechanism to generate propulsive forces. Here, kirigami cuts are introduced into a soft magnetic sheet that allow to achieve effective crawling of untethered soft robots upon application of a rotating magnetic field. Bidirectional locomotion is achieved under clockwise and counterclockwise rotating magnetic fields with distinct locomotion patterns and crawling speed in forward and backward propulsions. The crawling and deformation profiles of the robot are experimentally characterized and combined with detailed multiphysics numerical simulations to extract locomotion mechanisms in both directions. It is shown that by changing the shape of the cuts and orientation of the magnet the robot can be steered, and if combined with translational motion of the magnet, complex crawling paths are programed. The proposed magnetic kirigami robot offers a simple approach to developing untethered soft robots with programmable motion.https://doi.org/10.1002/advs.202301895crawlingkirigamilocomotionmagnetic soft compositessoft robotics |
| spellingShingle | Pierre Duhr Yuki A. Meier Alireza Damanpack Julia Carpenter André R. Studart Ahmad Rafsanjani Ahmet F. Demirörs Kirigami Makes a Soft Magnetic Sheet Crawl Advanced Science crawling kirigami locomotion magnetic soft composites soft robotics |
| title | Kirigami Makes a Soft Magnetic Sheet Crawl |
| title_full | Kirigami Makes a Soft Magnetic Sheet Crawl |
| title_fullStr | Kirigami Makes a Soft Magnetic Sheet Crawl |
| title_full_unstemmed | Kirigami Makes a Soft Magnetic Sheet Crawl |
| title_short | Kirigami Makes a Soft Magnetic Sheet Crawl |
| title_sort | kirigami makes a soft magnetic sheet crawl |
| topic | crawling kirigami locomotion magnetic soft composites soft robotics |
| url | https://doi.org/10.1002/advs.202301895 |
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