Design optimization of a solenoid-based electromagnetic soft actuator with permanent magnet core

This paper discusses design optimization of an electromagnetic soft actuator composed of two antagonistic solenoids that share a permanent magnet core. First, calculation of the magnetic field and applied force of a solenoid with a permanent magnet plunger is presented as the principal component of this electromagnetic actuator. Design optimization of the coil is discussed considering the geometrical parameters of the coil, including its length, inner and average diameters, number of turns and packing density while the power consumption is bounded. The impact of the actuator size on the resultant force is presented and scaling limitations are discussed. Then, due to the soft nature of the actuator's component, the impact of the cross-section, i.e. lateral deformation of the actuator on the magnetic field at the center of section is investigated as well. The deformation might happen to the actuator due to the load in the transverse direction, especially when the actuator is made of flexible materials. (C) 2018 Elsevier B.V. All rights reserved.