An inchworm using piezoelectric actuators and electromagnets with MR fluid

Abstract:
This paper describes an inchworm using piezoelectric actuators and electromagnets with a magneto-rheological (MR) fluid. The inchworm is operated by controlling the timing of the electromagnetic force of the electromagnet and the expansion of the piezoelectric actuators. The MR fluid increases the attractive force of the electromagnets, which improves the motion of the inchworm. The viscosity of MR fluid changes depending on the electromagnetic field. The increased viscosity of the MR fluid increases the force holding the electromagnet in position. The increased attractive force of the electromagnet improves the motion of the inchworm.