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Linette the Linear Actuator that Mimics Muscle
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- čas přidán 11. 07. 2024
- This is a linear actuator I made as a prototype for my robotics projects. I wanted to use biomimicry to make an electromagnetic version of a muscle fiber. It is similar to a voice coil motor, but has some unique characteristics.
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if you're making a hand and you want to mimic real muscles then remember that most of the muscles that control the hand are located in the forearm
@@shadowversatile689 Definitely. It's amazing how little muscle there is in the hand. I just want to sneak in a couple for the clasping of the palm.
An interesting exploration into movement. You are correct that this is neither a solenoid nor a voice coil since both of them operate with the permanent magnet (or ferrite rod) on the inside and the variable coil around the outside. The voice coil uses the varying voltage/current direction to move rapidly with small loads, whereas the solenoid is usually only bidirectional and sufficient to move larger loads between two defined positions. A linear motor is similar in having stacked magnets with reversing poles on one side and a series of small coils in the moving head that change position based on which ones are turned on and off, as noted elsewhere, like a stepper motor unrolled. There are very few devices that use a centralized coil and magnets on the outside for linear motion because the size and diameter of the coil determines how much electromagnetic energy it can handle, and many of them are incorporated into motors with rotary motion. The other issue is that it is far more efficient to have the magnets and coil as close as possible so that you get the maximum interaction (and strength) from the fields being produced.
The great part is that you are learning and experimenting... overcoming your worries and fears! Keep experimenting and you will rediscover some of the things I have mentioned and many more fascinating possibilities! There is nothing more engaging and fulfilling then creating an idea that you have into something that actually works! Even though I am much further along, I still giggle like a fiend when I get some crazy idea to work, even a little bit. From there I can add or subtract, and generally refine the idea, or determine whether it is truly worth spending more time and energy (and money) on. For SCIENCE!!! and learning... keep on exploring and finding the joy in your journey!
@@edwardpaulsen1074 Thank you for appreciating that it is a journey.
The scolding roomba content we all needed.
I'm glad it was a decent joke.
I like your invention. You should give it a name. Solenoid?
But it already has a name: Linette.
@@adrianperez3375 Actually, I like that name better!
Have you looked into "Linear Motors" they are essentially like a BLDC motor unravelled into a line to form a linear actuator.
I've seen some impressive units at trade shows and some are being used today to make fast, silent & mechanically simpler 3D printers.
I suppose this is similar to your 'serial' arrangement.
@@thetastefultoastie6077 I did look into linear motors. I should have mentioned them! They are using them in 3d printers? That's cool!
@@adrianperez3375 Magneto X, I think, is the printer that uses them
It's not a voice coil. It's a linear motor. They've existed for forever, but not usually quite so loosely constrained.
Looking at both, it seems closer to the voice coil, but I'm quite new to this and open to people with knowledge. What makes you say it is one versus the other?
I found this interesting and amusing - and as many other has pointed out there are other techniques that may already apply. That doesn't mean it's not worth looking into. If you can manage quite a small one (and probably longer), or perhaps a telescopic version, in a DIY fashion I think you may contribute a lot (the industry stuff is sooo expensive and not usually what a DIY:er want). I can also see the need for a "directional" contraction, so that a long "snake" can also turn sideways, not only stretch and contract.
Keep going!
@@fotodille Thank you for the encouragement. It means a lot.
Great concept that I have thought a bit about myself but am just too scared to mess up 😅. Major respect for actually going through and doing everything. The biggest possible optimization I think you addressed in the comments is the loose magnet configuration which could be optimized greatly by using solenoids for higher magnetic flux density where you are only getting a fraction of the possible force with the current configuration. With solenoids you can still keep the hexagonal frame concept with parallel and series configurations.
@@natewilburn301Thank you! And thanks for the suggestions. There are so many paths to try. We will see what happens with version 2.
As you see that adding a ferrous core to your coil add more force... you need to constraint the magnetic field to pass into your magnet...doing this will push your design to be a "moving magnet voice coil" vs "moving coil" that you show on your video.
@@prelard812 Thanks for the feedback. Love it.
Does it make contact when placed on its side? If so, then you still have noise from the rubbing. where all the other motors get there noise from. If it's just some pillars of stacked magnets and a coil inside, then you could replace the magnets with coils that have reversed polarity. Which would be a cost safer if you scale it up in quantity.
@@TinusBruins That's a good idea.
If you made a big matrix of super small versions of that with a membrane on the front you could make a speaker that could output "shaped sound waves", maybe?
@@DTMIR I don't know if I would go the sound generation route, but I definitely would like to see how the minis would perform.
😊 it is very interesting that our muscles move kind of like a snake or centipede
@@TheBawlz09 I agree. If you had asked me to guess about muscles, I never would have guessed that.
So is it basically a weird solenoid? How it compares with a solenoid which drains the same power?
@@user-tl7lr3kx1f I would like to buy some solenoids and voice coil motors to compare it against.
if you use a metal rod as core and a inductor on the outside you could move arbitary lengths! meaning you could push a 20cm rod through your one inductor.
@@schirmcharmemelone interesting. Just in case I'm misunderstanding, would that be a type of solenoid?
Interesting video! I'd be curious to see this implemented further, toward mimicking a biological system. Might be interesting to consider the world of insects as their muscular systems are relatively more simple than some mammals?
Also, can you detail the rationale behind the slight outward angle the permanent magnets have? And how did you land on six magnet stacks? Or on the height of the assembly?
@@BiglyWeenis Thanks. The angle of the magnets is actually from them repelling each other. They are supposed to be parallel. Six was because I was mimicking the six actin molecules that muscle has. The assembly is about 2.5 inches tall, which was mainly a product of the permanent magnets and keeping everything relative to them.
Your magnetic circuit is terribly lossy, ask yourself why all other actuators use iron and have the smallest possible air gaps in the magnetic circuit.
You are right. There is a lot of optimization to be had. I do have an iron (or perhaps steel) bolt in the center of the coil, and it did increase the strength. Version will be much better. If you have any other advice, I definitely need it.
make a nanoscale actuator of this kind!
then it would have alot more sense and practical use! :D
@@wdwadindwatri I just need some silicon etching gear :)
Have you looked into HASEL actuators?
@@zomie1 I have. They are so cool. But I found out they are extremely high voltage. At least, that's how it seemed. I should have mentioned them in my video.
So it's kinda like an inside out solenoid.
@@electrifyingvids3545 yes. Though a solenoid doesn't even need the permanent magnets, just an iron plug.
I have that same power supply, works really well. I even use it to charge batteries EXACTLY.
My Roomba has a crush on my floor fan. B-lines for it every time, and just humps it. Little @$$hole.
Not sure how exactly you might use this, but it is so worth delving into it a little to be aware of it...
en.wikipedia.org/wiki/Halbach_array
@@Ki-LessonsThat's a good recommendation. I wonder if a Halbach would be useful for this. I'll have to try some experiments.
isn't that just a solenoid?
It might be. Some commenters have suggested it was not a voice coil motor like I thought. And as I'm not an expert, I'm not really sure now. It definitely has characteristics of a voice coil motor, but some people disagree.
Nice actuator, but i wouldn't call it biomimetic
@@puffinjuice I did argue with myself about biomimetic. I suppose bio-inspired might be a better word?
As you said that mechanism exist is in the micro level not on the macro level? Is it even comparable to any other actuator tech?
@@abdullahk0405 From my point of view it's pretty unique. But maybe somebody has made something similar and I'm just not aware of it.
Looking forward to your next episode! Wondering if any custom PCBs/3DP'd parts may assist? Would like to give our support! (PCBWay zoey)
@@zoeyzhang9866 Thank you. At some point, I might do some metal printing, so I will keep you in mind.
@@adrianperez3375 Metal printing is quite popular among our makers! You are warmly welcome to give it a shot! Would love to keep in touch, may i know your email if possible?
Wow you beat me to it! I was planning to do exactly this for the exact same reason - robots are so noisy and I hate it.
My idea was to have the permanent magnets on the inside of the coils, so that the pull length was more customizable, and could even be flexible, making it more space efficient as you can turn them as they fold in.
@@iwiffitthitotonacc4673 I'd still like to see your design. We need all the ideas out there. Robots are noisy!
@@iwiffitthitotonacc4673 love it!
@@adrianperez3375 i have worked with DC motors on my Arm, but i also hate the noise, i always looked on this solenoid like possibilities from the side, because i have questioned myself about the positioning or controling those solenoids, because in this way it has max and min position? than i wondered if we can somehow oscilate it using a code to maybe fix it in certain positions within the max and min positions, happy to see your other vids, keep tinkering!
@@nestorovski1993 Thanks. :)
you going nowhere with this, efficiency of this is close to 0% you just heating that coil mostly without doing any usefull work
@@ekstrapolatoraproksymujacy412 I know it has a long way to go. If you have any suggestions to make it better, I'm open to accepting help.
@@adrianperez3375 you need to study electric motor design and understand why they can be extremely efficient in certain regimes and extremely inefficient in others, this is hard topic, but without good understanding of it, you will not be able to design anything that is remotely useful.
@@ekstrapolatoraproksymujacy412 I'll definitely pick up some books. Since you are an electrical engineer, do you have any specific ones you recommend?
@@adrianperez3375 All those books are written in such way that you first need to be an expert in the topic to understand them lol, I just quickly looked for some better (more understandable) sources, but I don't see much unfortunatelly, topics like inertia, acceleration, magnetic flux, electromagnetic induction, resistive losses are relevant here, look up for dc motor torque/speed/efficiency curves, try to understand them, understand why efficiency of the electric motor is close to 0% when at very low load or very high load but can approach close to 100% at particular medium loads and think where your contraption is in relation to that. In the end there isn't anything new to invent here really, it's just optimization to get best performance for particular application, so think about your application and design accordingly.