3D Printing of Small-Scale Soft Robots with Programmable Magnetization

Mohammad Hasan Dad Ansari; Veronica Iacovacci; Stefano PaneMouloud OurakGianni BorghesanIzadyar TamadonEmmanuel Vander PoortenArianna Menciassi

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3D Printing of Small-Scale Soft Robots with Programmable Magnetization

机译：3D Printing of Small-Scale Soft Robots with Programmable Magnetization

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Soft magnetic structures having a non-uniform magnetization profile canachieve multimodal locomotion that is helpful to operate in confined spaces.However, incorporating such magnetic anisotropy into their body is notstraightforward. Existing methods are either limited in the anisotropic profilesthey can achieve or too cumbersome and time-consuming to produce.Herein, a 3D printing method allowing to incorporate magnetic anisotropydirectly into the printed soft structure is demonstrated. This offers at thesame time a simple and time-efficient magnetic soft robot prototypingstrategy. The proposed process involves orienting the magnetized particlesin the magnetic ink used in the 3D printer by a custom electromagnetic coilsystem acting onto the particles while printing. The resulting structures areextensively characterized to confirm the validity of the process. The extentof orientation is determined to be between 92% and 99%. A few examplesof remotely actuated small-scale soft robots that are printed through thismethod are also demonstrated. Just like 3D printing gives the freedom toprint a large number of variations in shapes, the proposed method also givesthe freedom to incorporate an extensive range of magnetic anisotropies.

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《Advanced functional materials》 |2023年第15期|2211918.1-2211918.10|共10页
作者
Mohammad Hasan Dad Ansari; Veronica Iacovacci; Stefano PaneMouloud OurakGianni BorghesanIzadyar TamadonEmmanuel Vander PoortenArianna Menciassi;
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作者单位

The BioRobotics InstituteScuola Superiore Sant’AnnaVia Rinaldo Piaggio 34, 56025 Pontedera, Italy, Department of Excellence in Robotics & AIScuola Superiore Sant’AnnaVia Rinaldo Piaggio 34, 56025 Pontedera, Italy, Department of Mechanical EngineeringKU Le;

The BioRobotics InstituteScuola Superiore Sant’AnnaVia Rinaldo Piaggio 34, 56025 Pontedera, Italy, Department of Excellence in Robotics & AIScuola Superiore Sant’AnnaVia Rinaldo Piaggio 34, 56025 Pontedera, Italy;

Department of Mechanical EngineeringKU Leuven3000 Leuven, BelgiumDepartment of Mechanical EngineeringKU Leuven3000 Leuven, Belgium, Core lab RobFlanders Make3000 Leuven, BelgiumDepartment of Biomedical EngineeringUniversity of Twente7522 NB Enschede, Netherlands;

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正文语种英语
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3D printing; magnetic actuation; magnetic anisotropy; microrobotics; programmable magnetization; soft robots;

3D Printing of Small-Scale Soft Robots with Programmable Magnetization

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