실리콘 기반 자기유변 탄성체를 이용한 메카트로닉스 응용 분야를 위한 스마트 마찰 제어 표면 개발

초록

This study presents a novel biomimetic inchworm robotic system that combines carbon nanotube-reinforced magnetorheological elastomers (CNT-MREs) with AI-guided material design. Its motion efficiency is boosted by an AI-optimized friction interface, with a micro-crank slider skeleton providing repeatable anchor-pull and anchor-push cycles, while a carbon nanotube-reinforced magnetorheological elastomer (CNT-MRE) foot pad provides active, tunable grip. System characterization showed that a 2% carbon nanotube content provided the best balance, with a 35% increase in tensile strength while maintaining 62.5% magnetic field responsiveness. The formulation maximizes baseline adhesion while maintaining high magnetic responsiveness. When this AI-guided MRE was installed and driven by an alternating magnetic field, the robot traveled 62.4 mm in 60 seconds at an average speed of 1.040 mm/s, 20.6% faster than a conventionally tuned MRE under the same control, with peak test activity reaching 63.9 mm displacement, and magnetic activation resulting in a 42.7% increase in speed over zero-field operation, validating the effectiveness of the smart material design approach. Combining a simple motion core with a data-driven, magnetically controlled switchable interface improves crawling performance without sacrificing structural simplicity. This approach can be extended to other soft or hybrid crawlers whose mobility is controlled by in situ friction modulation.