{"id":"https://openalex.org/W7223548977","doi":"https://doi.org/10.1038/s41598-026-76756-7","title":"Robust design of air chamber to enhance impact connection strength of magnetic connectors on modular truss robots","display_name":"Robust design of air chamber to enhance impact connection strength of magnetic connectors on modular truss robots","publication_year":2026,"publication_date":"2026-10-25","ids":{"openalex":"https://openalex.org/W7223548977","doi":"https://doi.org/10.1038/s41598-026-76756-7"},"language":"en","primary_location":{"id":"doi:10.1038/s41598-026-76756-7","doi":"https://doi.org/10.1038/s41598-026-76756-7","is_oa":true,"landing_page_url":"https://doi.org/10.1038/s41598-026-76756-7","pdf_url":"https://www.nature.com/articles/s41598-026-76756-7_reference.pdf","source":{"id":"https://openalex.org/S196734849","display_name":"Scientific Reports","issn_l":"2045-2322","issn":["2045-2322"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["anvur-class-a","anvur-scientific","cwts-core","doaj","dongbi-c","doyens","jufo-1","ki-jl-1","medline","norway-1","poland-140","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310319908","host_organization_name":"Nature Portfolio","host_organization_lineage":["https://openalex.org/P4310319908","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Nature Portfolio","Springer Nature"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Scientific Reports","raw_type":"journal-article"},"volume":null,"type":"article","is_traditional":true,"indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.nature.com/articles/s41598-026-76756-7_reference.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5159527541","display_name":"Jaeyeol Kim","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jaeyeol Kim","raw_affiliation_strings":["School of Mechanical Engineering, Hanyang University, Seoul, 04763, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Hanyang University, Seoul, 04763, Republic of Korea","institution_ids":["https://openalex.org/I4575257"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5144057366","display_name":"WooSeong Shin","orcid":"https://orcid.org/0009-0002-2976-8550","observed_orcids":["https://orcid.org/0009-0002-2976-8550"]},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"WooSeong Shin","raw_affiliation_strings":["School of Mechanical Engineering, Hanyang University, Seoul, 04763, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Hanyang University, Seoul, 04763, Republic of Korea","institution_ids":["https://openalex.org/I4575257"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5159471327","display_name":"Yohan Go","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Yohan Go","raw_affiliation_strings":["School of Mechanical Engineering, Hanyang University, Seoul, 04763, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Hanyang University, Seoul, 04763, Republic of Korea","institution_ids":["https://openalex.org/I4575257"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112627276","display_name":"Myeongjin Choi","orcid":"https://orcid.org/0000-0003-4564-5737","observed_orcids":["https://orcid.org/0000-0003-4564-5737"]},"institutions":[{"id":"https://openalex.org/I4210111434","display_name":"Korea Institute of Machinery & Materials","ror":"https://ror.org/01qcq9d74","country_code":"KR","type":"facility","lineage":["https://openalex.org/I2801339556","https://openalex.org/I4210111434","https://openalex.org/I4210144908","https://openalex.org/I4387152098"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Myeongjin Choi","raw_affiliation_strings":["Advanced Robotics Research Center, Korea Institute of Machinery and Materials (KIMM), Daejeon, 34103, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Advanced Robotics Research Center, Korea Institute of Machinery and Materials (KIMM), Daejeon, 34103, Republic of Korea","institution_ids":["https://openalex.org/I4210111434"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5000423233","display_name":"TaeWon Seo","orcid":"https://orcid.org/0000-0001-9447-7675","observed_orcids":["https://orcid.org/0000-0001-9447-7675","https://orcid.org/0009-0007-1022-3354"]},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"TaeWon Seo","raw_affiliation_strings":["School of Mechanical Engineering, Hanyang University, Seoul, 04763, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Hanyang University, Seoul, 04763, Republic of Korea","institution_ids":["https://openalex.org/I4575257"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5000423233"],"corresponding_institution_ids":["https://openalex.org/I4575257"],"apc_list":{"value":2690,"currency":"USD","value_usd":2690},"apc_paid":{"value":2690,"currency":"USD","value_usd":2690},"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.71599075,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9336000084877014,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9336000084877014,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.03759999945759773,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.010499999858438969,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/modular-reconfigurable-robots","display_name":"modular reconfigurable robots","score":0.8759999871253967},{"id":"https://openalex.org/keywords/air-chamber","display_name":"air chamber","score":0.5820000171661377},{"id":"https://openalex.org/keywords/impact-resistance","display_name":"impact resistance","score":0.6420000195503235},{"id":"https://openalex.org/keywords/mode-switching","display_name":"mode switching","score":0.5669999718666077},{"id":"https://openalex.org/keywords/fluid-damping","display_name":"fluid damping","score":0.7760000228881836},{"id":"https://openalex.org/keywords/charpy-impact-test","display_name":"Charpy impact test","score":0.7540000081062317},{"id":"https://openalex.org/keywords/taguchi-method","display_name":"Taguchi method","score":0.7369999885559082},{"id":"https://openalex.org/keywords/design-optimization","display_name":"design optimization","score":0.6639999747276306}],"concepts":[{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.6766999959945679},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6383000016212463},{"id":"https://openalex.org/C83469408","wikidata":"https://www.wikidata.org/wiki/Q2036525","display_name":"Taguchi methods","level":2,"score":0.6277999877929688},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5414000153541565},{"id":"https://openalex.org/C34559072","wikidata":"https://www.wikidata.org/wiki/Q2334061","display_name":"Design of experiments","level":2,"score":0.4966000020503998},{"id":"https://openalex.org/C173534245","wikidata":"https://www.wikidata.org/wiki/Q1328068","display_name":"Truss","level":2,"score":0.4754999876022339},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.4318999946117401},{"id":"https://openalex.org/C42632107","wikidata":"https://www.wikidata.org/wiki/Q2031860","display_name":"Orthogonal array","level":3,"score":0.41499999165534973},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.4027000069618225},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.3968999981880188},{"id":"https://openalex.org/C50587689","wikidata":"https://www.wikidata.org/wiki/Q4698328","display_name":"Air gap (plumbing)","level":2,"score":0.3788999915122986},{"id":"https://openalex.org/C2781162219","wikidata":"https://www.wikidata.org/wiki/Q26250693","display_name":"Replicate","level":2,"score":0.3781999945640564},{"id":"https://openalex.org/C2776529397","wikidata":"https://www.wikidata.org/wiki/Q190312","display_name":"Stator","level":2,"score":0.3779999911785126},{"id":"https://openalex.org/C21200559","wikidata":"https://www.wikidata.org/wiki/Q7451068","display_name":"Sensitivity (control systems)","level":2,"score":0.328000009059906},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3172999918460846},{"id":"https://openalex.org/C127205250","wikidata":"https://www.wikidata.org/wiki/Q653604","display_name":"Charpy impact test","level":3,"score":0.3127000033855438},{"id":"https://openalex.org/C112950240","wikidata":"https://www.wikidata.org/wiki/Q76005","display_name":"Ultimate tensile strength","level":2,"score":0.3107999861240387},{"id":"https://openalex.org/C2778370241","wikidata":"https://www.wikidata.org/wiki/Q18386598","display_name":"Parametric design","level":3,"score":0.30329999327659607},{"id":"https://openalex.org/C135628077","wikidata":"https://www.wikidata.org/wiki/Q220184","display_name":"Finite element method","level":2,"score":0.2922999858856201},{"id":"https://openalex.org/C13355873","wikidata":"https://www.wikidata.org/wiki/Q2920850","display_name":"Connection (principal bundle)","level":2,"score":0.28040000796318054},{"id":"https://openalex.org/C16469947","wikidata":"https://www.wikidata.org/wiki/Q2400745","display_name":"Fractional factorial design","level":3,"score":0.27090001106262207},{"id":"https://openalex.org/C186394612","wikidata":"https://www.wikidata.org/wiki/Q7098942","display_name":"Optimal design","level":2,"score":0.26969999074935913},{"id":"https://openalex.org/C34972735","wikidata":"https://www.wikidata.org/wiki/Q2920267","display_name":"Engineering design process","level":2,"score":0.2630000114440918},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2540999948978424}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1038/s41598-026-76756-7","doi":"https://doi.org/10.1038/s41598-026-76756-7","is_oa":true,"landing_page_url":"https://doi.org/10.1038/s41598-026-76756-7","pdf_url":"https://www.nature.com/articles/s41598-026-76756-7_reference.pdf","source":{"id":"https://openalex.org/S196734849","display_name":"Scientific Reports","issn_l":"2045-2322","issn":["2045-2322"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["anvur-class-a","anvur-scientific","cwts-core","doaj","dongbi-c","doyens","jufo-1","ki-jl-1","medline","norway-1","poland-140","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310319908","host_organization_name":"Nature Portfolio","host_organization_lineage":["https://openalex.org/P4310319908","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Nature Portfolio","Springer Nature"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Scientific Reports","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1038/s41598-026-76756-7","doi":"https://doi.org/10.1038/s41598-026-76756-7","is_oa":true,"landing_page_url":"https://doi.org/10.1038/s41598-026-76756-7","pdf_url":"https://www.nature.com/articles/s41598-026-76756-7_reference.pdf","source":{"id":"https://openalex.org/S196734849","display_name":"Scientific Reports","issn_l":"2045-2322","issn":["2045-2322"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["anvur-class-a","anvur-scientific","cwts-core","doaj","dongbi-c","doyens","jufo-1","ki-jl-1","medline","norway-1","poland-140","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310319908","host_organization_name":"Nature Portfolio","host_organization_lineage":["https://openalex.org/P4310319908","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Nature Portfolio","Springer Nature"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Scientific Reports","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.7207000255584717,"id":"https://metadata.un.org/sdg/9","display_name":"Industry, innovation and infrastructure"}],"study_designs":[],"awards":[{"id":"https://openalex.org/G4014355439","display_name":null,"funder_award_id":"RS-2025-20552986","funder_id":"https://openalex.org/F4320328359","funder_display_name":"Ministry of Science and ICT, South Korea"}],"funders":[{"id":"https://openalex.org/F4320322120","display_name":"National Research Foundation of Korea","ror":"https://ror.org/013aysd81"},{"id":"https://openalex.org/F4320322724","display_name":"Ministry of Education, India","ror":"https://ror.org/048xjjh50"},{"id":"https://openalex.org/F4320328359","display_name":"Ministry of Science and ICT, South Korea","ror":"https://ror.org/01wpjm123"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W7223548977.pdf","grobid_xml":"https://content.openalex.org/works/W7223548977.grobid-xml"},"referenced_works_count":21,"referenced_works":["https://openalex.org/W1902605501","https://openalex.org/W1973791928","https://openalex.org/W1976620677","https://openalex.org/W1994444307","https://openalex.org/W2091035491","https://openalex.org/W2101392651","https://openalex.org/W2121795633","https://openalex.org/W2133773873","https://openalex.org/W2564145065","https://openalex.org/W2775410230","https://openalex.org/W2775588140","https://openalex.org/W2888511464","https://openalex.org/W3003358174","https://openalex.org/W3129469851","https://openalex.org/W4285102231","https://openalex.org/W4319998084","https://openalex.org/W4403387754","https://openalex.org/W4406110703","https://openalex.org/W4413918682","https://openalex.org/W4416749109","https://openalex.org/W7131407938"],"related_works":["https://openalex.org/W2013861680","https://openalex.org/W4401751208","https://openalex.org/W4206320111","https://openalex.org/W2743851804","https://openalex.org/W3016259971","https://openalex.org/W2775418063","https://openalex.org/W2013504103","https://openalex.org/W2564145065","https://openalex.org/W2140862683","https://openalex.org/W2014361451"],"abstract_inverted_index":{"The":[0,218],"connection":[1,320],"mechanisms":[2],"between":[3,249],"neighboring":[4],"modules":[5],"are":[6,55],"crucial":[7],"subsystems":[8],"in":[9,267],"modular":[10,52],"reconfigurable":[11],"robot":[12],"(MRR)":[13],"systems.":[14],"Magnetic":[15],"connectors":[16],"have":[17,179],"been":[18],"widely":[19],"used":[20],"for":[21,210],"docking":[22,45],"and":[23,30,64,77,148,160,188,204,239,251,297],"undocking":[24,113],"because":[25],"of":[26,32,86,93,112,119,139,168,191,222,225,228,246,262,287,299],"their":[27],"mechanical":[28,44],"simplicity":[29],"ease":[31],"use.":[33],"However,":[34],"they":[35],"suffer":[36],"from":[37],"lower":[38],"maximum":[39],"tensile":[40],"strength":[41],"compared":[42],"with":[43],"mechanisms.":[46],"This":[47],"limitation":[48],"is":[49,143],"critical":[50],"when":[51],"truss":[53],"robots":[54],"subjected":[56],"to":[57,81,104,155,178,237,276],"impact":[58,84,106,133,181,324],"forces":[59],"during":[60],"locomotion,":[61],"reconfiguration,":[62],"docking,":[63],"undocking.":[65],"To":[66,115,258],"address":[67],"this":[68,70,94],"challenge,":[69],"paper":[71],"presents":[72],"a":[73,90,98,271,284,307,311,315],"comprehensive":[74],"parametric":[75],"study":[76],"establishes":[78],"design":[79,151,158,163,197,302],"guidelines":[80,303],"maximize":[82],"the":[83,110,117,120,131,136,140,146,157,162,166,183,192,223,233,244,253,260,263,268,278,290,294,300],"resistance":[85,236],"magnetic":[87],"connectors.":[88],"As":[89],"core":[91],"component":[92],"approach,":[95],"we":[96,123],"investigate":[97],"mode-switching":[99],"silicone":[100],"air":[101,121,193,234,254],"chamber":[102],"designed":[103],"enhance":[105],"absorption":[107],"while":[108],"mitigating":[109],"degradation":[111],"capabilities.":[114],"evaluate":[116],"performance":[118,219],"chamber,":[122],"introduce":[124],"an":[125,180,214],"experimental":[126],"evaluation":[127],"method":[128,152],"inspired":[129],"by":[130],"Charpy":[132],"test.":[134],"Because":[135],"transient":[137],"response":[138],"soft":[141],"structure":[142],"highly":[144],"complex,":[145],"Taguchi":[147],"full":[149],"factorial":[150],"were":[153,172,208,304],"employed":[154],"optimize":[156],"parameters":[159],"derive":[161],"guidelines.":[164],"In":[165],"case":[167],"parameters,":[169],"four":[170],"factors":[171],"selected":[173,323],"that":[174],"could":[175],"be":[176],"judged":[177],"on":[182],"pneumatic":[184],"stiffness,":[185],"structural":[186],"flexibility,":[187],"fluid":[189],"damping":[190],"chamber.":[194],"Also,":[195],"each":[196,211],"parameter":[198,281],"was":[199,274],"divided":[200],"into":[201],"three":[202],"levels,":[203],"five":[205],"replicate":[206],"experiments":[207],"conducted":[209,275],"combination":[212],"using":[213,310],"\\(L_9(3^4)\\)":[215],"orthogonal":[216],"array.":[217],"metrics":[220],"consist":[221],"sum":[224],"weighted":[226],"values":[227],"\\(M_1\\)":[229],",":[230,241],"which":[231,242],"indicates":[232],"chamber\u2019s":[235,255],"impact,":[238],"\\(M_2\\)":[240],"reflects":[243],"indicator":[245],"mode":[247],"switching":[248],"opening":[250],"closing":[252],"bottom":[256],"hole.":[257],"explore":[259],"vicinity":[261],"optimal":[264,280],"value":[265],"identified":[266],"first":[269],"experiment,":[270],"second":[272],"experiment":[273],"pinpoint":[277],"final":[279],"configuration,":[282],"achieving":[283],"metric":[285],"improvement":[286],"0.051969":[288],"over":[289],"worst-case":[291],"scenario.":[292],"Finally,":[293],"practical":[295],"feasibility":[296],"effectiveness":[298],"proposed":[301],"demonstrated":[305],"through":[306],"hardware":[308],"model":[309],"prototype":[312],"connector":[313],"within":[314],"configured":[316],"MRR":[317],"system,":[318],"demonstrating":[319],"retention":[321],"under":[322],"conditions.":[325]},"counts_by_year":[],"updated_date":"2026-11-04T10:54:05.112534","created_date":"2026-10-26T00:00:00"}
