Development of a Bendable Permanent-Magnet Tubular Linear Motor

This paper presents a new flexible linear actuator. It is a two-phase permanent-magnet tubular linear motor. An elastomer offers the desired actuator flexibility both between the coils of the stator and between the magnets in the mover. We determined the motor dimensions in a numerical parameter optimization and used various finite element models. The novel artificial muscle actuator is designed for tensile loads. It is electrically powered and obtains variable forces. Weights up to 750 g were lifted with a minimal bending radius of 200 mm. The outer diameter of the flexible linear direct drive measures about 30 mm.