Abstract
This paper presents an inchworm-type locomotion mechanism employing electropermanent magnets (EPMs) as position-holding devices for energy-efficient motion. The proposed mechanism consists of multilayered piezoelectric actuators and EPM-based holding units arranged in a delta configuration, enabling planar motion with translational and rotational degrees of freedom without guide mechanism. Locomotion is achieved by sequential activation of piezoelectric elements and switching of the EPM holding states, realizing stepwise movement based on the inchworm principle. Since electrical power is consumed only during the magnetization and demagnetization switching of the EPMs, the proposed system reduces energy consumption compared to conventional electromagnet-based mechanisms. Experimental evaluations demonstrate stable linear and rotational motions and confirm the effectiveness of the EPMs in maintaining sufficient holding force while achieving low power operation. The proposed mechanism is suitable for applications requiring precise positioning and long-term operation with minimal energy consumption.
