1. The State Key Laboratory of Fluid Power and Mechatronic Systems, College of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China 2. The Key Laboratory of 3D Printing Process and Equipment of Zhejiang Province, College of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China 3. Center for X-Mechanics, Department of Engineering Mechanics, Zhejiang University, Hangzhou 310027, China
Manufacturing flexible magnetic-driven actuators with complex structures and magnetic arrangements to achieve diverse functionalities is becoming a popular trend. Among various manufacturing technologies, magnetic-assisted digital light processing (DLP) stands out because it enables precise manufacturing of macro-scale structures and micro-scale distributions with the assistance of an external magnetic field. Current research on manufacturing magnetic flexible actuators mostly employs single materials, which limits the magnetic driving performance to some extent. Based on these characterizations, we propose a multi-material magnetic field-assisted DLP technology to produce flexible actuators with an accuracy of 200 μm. The flexible actuators are printed using two materials with different mechanical and magnetic properties. Considering the interface connectivity of multi-material printing, the effect of interfaces on mechanical properties is also explored. Experimental results indicate good chemical affinity between the two materials we selected. The overlap or connection length of the interface moderately improves the tensile strength of multi-material structures. In addition, we investigate the influence of the volume fraction of the magnetic part on deformation. Simulation and experimental results indicate that increasing the volume ratio (20% to 50%) of the magnetic structure can enhance the responsiveness of the actuator (more than 50%). Finally, we successfully manufacture two multi-material flexible actuators with specific magnetic arrangements: a multi-legged crawling robot and a flexible gripper capable of crawling and grasping actions. These results confirm that this method will pave the way for further research on the precise fabrication of magnetic flexible actuators with diverse functionalities.
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