A Novel Magnetic Actuator Capable of Free Movement on a Magnetic Substance

This paper proposes a magnetic actuator capable of movement on a magnetic substance by means of the inertia force produced by the vibration of a mass-spring model. The magnetic actuator is operated by the difference in frictional force during one period of vibration. The experimental results reveal that this magnetic actuator is able to pull a load mass of 110 g. Furthermore, this actuator is able to propel a load mass of approximately 8.5 times the weight of the actuator itself. The maximum efficiency of the actuator was 12.9% for an actuator pulling its own weight. The results also demonstrate that the magnetic actuator can move stably in slide-on-ceiling and wall-climbing plane motions. This magnetic actuator is able to move freely without a control unit on an iron rail of any shape.