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The aim of these test is to study the magnetic actuation behavior of 3D printed structures under the magnetic field using an imaging system.

Equipment or Bill of Materials

1. Imaging system
2. Magnet

Operation & Procedure

1. The 3d printed structure ( fiber, beam, cylinder, etc ) will be hanged from on end. The surrounding environment should be completely free so that they don't interfere with the magnetic field.
2. A ruler (any object with a know distance) will also be provided in a know distance as close as possible. Imaging of the structure under know magnetic field will be done and as the result, exact length of the structure will be measured.
3. Linear Actuation: A constant magnet with a known magnetic field strength will be set at a known distance beneath the free end of the structure. This could be 10s of milimeters away where there will be no actuation occurring on the structure. Then, in the next steps, the magnetic will be moved to the next determined stops (possibly 5 mm away) gradually where small deformation become visible on the structure, and imaging will be done at each stop. As it gets relatively very close to the structure, the deformation became more distinct, so the magnets will be displace for smaller extent ( 1mm for example). Imaging for each steps will be done.
4. Bending actuation: A constant magnet with known magnetic field strength will be set at a known distance with it poles perpendicular to the free end of the hanged structure. Similar to the above tests, magnet will be moved toward the structure on know graduate steps. The occurred deformation will be captured through imaging system. As it get closer to the structure and the bending become more distinct, the amount of magneto displacement toward the structure for each step will become smaller.
5. Captured image will be processed through ImageJ at each step so that the actuation behavior could be achieved in a form of of structure deformation under an applied magnetic field. Moreover, knowing the distance between the the one pole of magnet and free end of the structure, the extent of magnetic density at that point can be calculated through the know formula.
6. For doing locomotion tests of the structures under an applied magnetic field, the structures will be put on an a very thin ( 1/16 inch) acrylic plate. The imaging system from top and side view will be provided. By moving a magnet under the structure, the structure will move with it with some lag where the locomotion will be capture. Moreover, different structures with different amount of magnetic material in them can be studied for a test on their ability to move on an incline. Having a known incline, these structure can be moved upward the incline, the maximum length they can travel upward can be a good measure on the effect of the magnetic particles ration effect on the locomotion behavior of the structures. Also, the magnetic force can also be measured with a known surface friction and structures mass.

References

Locomotion tests obtained from following:

1. Printing ferromagnetic domains for untethered fast-transforming soft materials
2. Magnetomotility of untethered helical soft robots