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Magnetic Soft Actuators: Magnetic Soft Robots from Macro- to Nanoscale

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Curvilinear Micromagnetism

Part of the book series: Topics in Applied Physics ((TAP,volume 146))

Abstract

In this chapter, we make the very first attempt to apply concepts of curvilinear magnetism to the active research field of magnetic soft actuators and, in particular, magnetic soft robots. Specifically, we describe the interplay between the mechanical and magnetic degrees of freedom in mechanically flexible materials. The discussion starts with the common approach based on the analysis of the balance of magnetic and mechanical forces and torques to describe the actuation behavior and performance of mechanically soft magnetic thin films, wires and ribbons. The framework of curvilinear magnetism is then applied to provide an intuitive physical picture of a complex behavior of actuators possessing a complex magnetic texture. This approach allows us to predict new effects with broken symmetry on bending and twisting of actuators. For instance, a selected handedness of the magnetization rotation within the magnetic texture can lead to the energetically preferable clockwise or counter-clockwise mechanical twist. Furthermore, the chapter covers the topic of mechanically extremely soft magnetic samples (spin chains and ribbons) where the magnetic texture can affect the shape of the actuator (enable permanent bends or twists) even without applied magnetic fields. These systems can be of use for prospective magnetic robotics at the nanoscale. In this respect, the magnetic texture can result in similar mechanical effects as typically realized using shape memory polymers. We hope that this chapter will stimulate active experimental research on the validation of these recent theoretical predictions and result in the development of new application scenarios, where the asymmetric motion of magnetic actuators is the key enabler.

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Notes

  1. 1.

    This assumption is valid for the majority of magnetic soft robots and soft actuators.

  2. 2.

    Note, that the ruled surface is not necessary developable.

  3. 3.

    Geometrical properties of surfaces are also described in Chap. 3.

  4. 4.

    We refer the reader to Chaps. 3, 4 and 5 for the description of effects of magnetostatics on curvilinear nanomagnets.

  5. 5.

    Curvature of the chain at i-th node position is calculated as \(\kappa _i = |\boldsymbol{u}_{i+1} - \boldsymbol{u}_i|/a\). The geometry of curves is determined by the curvature \(\varkappa \) and torsion \(\tau \) which determine local bends and twists, respectively. For spin chains arranged along a planar curve, \(\tau \equiv 0\).

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Acknowledgements

This chapter benefited from active discussions and fruitful cooperation with Prof. Joseph B. Tracy and Prof. Michael Dickey (NC State University), Prof. Denis D. Sheka (University of Kyiv), Dr. Volodymyr P. Kravchuk (KIT Karlsruhe), Prof. Salvador Pane i Vidal (ETH Zurich), Prof. Sarthak Misra (University of Twente), Prof. Martin Kaltenbrunner (University of Linz), Prof. Leonid Ionov (University of Bayreuth). We acknowledge the financial support by the German Research Foundation (DFG) via Grants No MA 5144/9-1, MA 5144/13-1, MA5144/14-1, MA5144/22-1, MA 5144/24-1, MA 5144/28-1, the Helmholtz Association of German Research Centres in the frame of the Helmholtz Innovation Lab “FlexiSens”. KVY acknowledges financial support, in part, via the UKRATOP-project funded by the German Federal Ministry of Education and Research (Grant No. 01DK18002), by the Program of Fundamental Research of the Department of Physics and Astronomy of the National Academy of Sciences of Ukraine (Project No. 0117U000240), and the National Research Foundation of Ukraine (Project No. 2020.02/0051).

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Authors and Affiliations

  1. Institute of Ion Beam Physics and Materials Research, Helmholtz-Zentrum Dresden-Rossendorf e.V., 01328, Dresden, Germany

    Gilbert Santiago Cañón Bermúdez, Mónica Navarro López, Denys Makarov & Oleksandr V. Pylypovskyi

  2. Department of Physics, Elon University, Elon, NC, 27244, USA

    Benjamin Aaron Evans

  3. Leibniz-Institut für Festkörper- und Werkstoffforschung, IFW Dresden, 01069, Dresden, Germany

    Kostiantyn V. Yershov

  4. Bogolyubov Institute for Theoretical Physics of NAS of Ukraine, 03143, Kyiv, Ukraine

    Kostiantyn V. Yershov

  5. Kyiv Academic University, 03142, Kyiv, Ukraine

    Oleksandr V. Pylypovskyi

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  1. Gilbert Santiago Cañón Bermúdez
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  2. Mónica Navarro López
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  3. Benjamin Aaron Evans
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  5. Denys Makarov
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  6. Oleksandr V. Pylypovskyi
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Correspondence to Oleksandr V. Pylypovskyi .

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  1. Helmholtz-Zentrum Dresden-Rossendorf e.V, Dresden, Germany

    Denys Makarov

  2. Faculty of Radiophysics, Electronics and Computer Systems, Taras Shevchenko National University of Kyiv, Kyiv, Ukraine

    Denis D. Sheka

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Cañón Bermúdez, G.S., López, M.N., Evans, B.A., Yershov, K.V., Makarov, D., Pylypovskyi, O.V. (2022). Magnetic Soft Actuators: Magnetic Soft Robots from Macro- to Nanoscale. In: Makarov, D., Sheka, D.D. (eds) Curvilinear Micromagnetism. Topics in Applied Physics, vol 146. Springer, Cham. https://doi.org/10.1007/978-3-031-09086-8_8

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