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This paper proposes a new type of actuator at millimeter scale, which isbased on Simplified Electro-Permanent (SEP) magnets. The new actuator canachieve connection and smooth motion by controlling the polarity of SEPmagnets. Analyses based on numerical simulation are used to design a prototype.A dead-time controllable H-bridge and its multiplex design are proposed forcontrolling the new actuator and simplifying the electronic circuit. Finally,the new actuator is implemented in the DILI modular reconfigurable robotsystem. The experimental results show that with this new actuator, the DILImodule can move smoothly and connect to other modules without power supplyduring connection. The maximum speed of DILI module is 20mm/s.

A programmable actuator for combined motion and connection and its application to modular robot