Theoretical and Experimental Investigations of Magnetic Hybrid Materials with Applications for Locomotion, Manipulation and Sensor Systems in Soft Robotics

New applications of mobile robots, especially in inspection technology, medical technology and1 rescue scenarios in unstructured environments, have led to increasing integration of functions in place of separate function-specific modules. This development process already begins with the material. With the development of smart materials, it has become possible to process energy, material and information in one component. Magnetic hybrid materials such as magneto active elastomers (MAEs) belong to such a class of smart materials. MAEs consist of a non-magnetic elastic matrix with magnetic particles. They make functional integration possible, which begins with the material itself. Functional integration and compliance are properties that characterise natural motion systems. Biologically inspired locomotion systems are the subject of investigation in the first part of this work. Investigations concerning a compliant form-fit gripper made of MAE for the handling of sensitive objects and the description of a biologically inspired tactile sensor using ferrofluid complete the content of the paper. From the methodological side, the paper focuses on model-based designs instead of only know-how-based solutions. The essential prerequisite for efficient use of smart materials is the comprehensive knowledge of the material properties of MAEs and the theoretical and experimental description of fundamental phenomena in their use. Based on theoretical investigations of the magnetic and mechanical properties of these materials on the macroscale, including the description of the magneto-mechanical behaviour by means of the finite element method, soft robotics components are developed.