Design and Fabrication of Bioinspired Pattern Driven Magnetic Actuators

Additive manufacturing (AM) has drawn significant attention in the fabrication of soft actuators due to its unique capability of printing geometrically complex parts. This research presents the design and development of an AM process for bioinspired, deformable, and magnetic stimuli-responsive actuator arms. The actuator arms were fabricated via the material extrusion-based AM process with magnetic particle-polymer composite filaments. Inspired by the rhombus cellular structure found in nature, different design parameters, such as the line width of the interior rhombus sides, and 3D printing parameters were studied and optimized to fabricate actuator arms that exhibit enhanced flexibility while being magnetically actuated. The trigger distance and deformation experiments revealed that the width of the rhomboids’ sides played a critical role in magnetic and bending properties. It was found that the sample with a line width of 550 µm and printing layer thickness of 0.05 mm had the maximum deflection with a measured bending angle of 34 degrees. The magnetic property measurement exhibited that the sample with a line width of 550 µm showed the maximum magnetic flux density of 3.2 mT. The trigger distance results also supported this result. A maximum trigger distance of 8.25 mm was measured for the arm with a line width of 550 µm. Additionally, tensile tests showed that the sample exhibited a 17.7 MPa tensile strength, 1.8 GPa elastic modulus, and 1.3% elongation. Based on these results, we successfully fabricated a 3D printed magnetic gripper with two rhombus cellular structured arms which showed grasping and extensive load lifting capability (up to ~140 times its weight).