# A programmable actuator for combined motion and connection and its application to modular robot

## TL;DR

This paper introduces a millimeter-scale programmable actuator based on SEP magnets, enabling smooth motion and connection in modular robots, demonstrated through the DILI system with successful movement and connection capabilities.

## Contribution

A novel millimeter-scale actuator utilizing SEP magnets for combined motion and connection, with a new control circuit and integration into a modular robot system.

## Key findings

- Modules can move smoothly at 20mm/s
- Modules connect without power during connection
- Successful implementation in DILI modular robot

## Abstract

This paper proposes a new type of actuator at millimeter scale, which is based on Simplified Electro-Permanent (SEP) magnets. The new actuator can achieve connection and smooth motion by controlling the polarity of SEP magnets. Analyses based on numerical simulation are used to design a prototype. A dead-time controllable H-bridge and its multiplex design are proposed for controlling the new actuator and simplifying the electronic circuit. Finally, the new actuator is implemented in the DILI modular reconfigurable robot system. The experimental results show that with this new actuator, the DILI module can move smoothly and connect to other modules without power supply during connection. The maximum speed of DILI module is 20mm/s.

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Source: https://tomesphere.com/paper/1904.09889