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Abstract
The soft robotic industry gained popularity due to its “soft” interaction with its environment. Within this field of robotics, there are multiple methods of actuation, with magnetic actuation consisting of one of the growing versions. Electromagnets and permanent magnets consist of the two actuators used within this method. Although having high amounts of control, electromagnets are large in size and consume vast amounts of power, relative to permanent magnets. However, permanent magnets have a constant field which attributes to the lower amount of control. In order to work around these issues, the exploration of multi-magnetic actuation is needed. From placing multiple magnets within certain orientations, a varying magnetic field can be created. The magnetic soft robot will consist of Ferrofluid and silicone due to the flexible and fluidic nature. In this research, multiple orientations of magnets and volumes of magnetic material have been studied.