Magnetic control soft grasping robot based on magnetically programmed temperature sensitive hydrogel

Abstract

The invention provides a magnetic control soft grasping robot based on magnetically programmed temperature sensitive hydrogel. The magnetic control soft grasping robot based on the magnetically programmed temperature sensitive hydrogel comprises a central part and gripper parts; a plurality of the gripper parts are uniformly distributed on the periphery of the central part; each gripper part is magnetic particle-containing temperature response hydrogel; and the gripper parts are bent by applying an alternating magnetic field to the gripper parts. Any gripper part is of a double-layer structure; the upper layer structure is dual network cross-linked hydrogel; the lower layer structure is the magnetic particle-containing temperature response hydrogel; and the deformation amount of the lowerlayer structure is greater than the deformation amount of the upper layer structure by applying the alternating magnetic field to the gripper parts. According to the magnetic control soft grasping robot based on the magnetically programmed temperature sensitive hydrogel, magnetic nano-particles are added into temperature sensitive hydrogel through a magnetic programming technology; and when the magnetically programmed temperature sensitive hydrogel is placed in a magnetic field, the internal temperature of the hydrogel changes because of a magnetic effect, and the deformation of the hydrogel is controlled by utilizing unequal deformation amounts of the two layers of the grippe parts.

Description

technical field [0001] The invention relates to the field of soft robots, in particular to a magnetically controlled soft robot grabbing robot based on magnetically programmed temperature-sensitive hydrogel. Background technique [0002] As an emerging technology field, soft robotics is becoming more and more popular. Compared with traditional rigid robots, soft robots have a higher degree of freedom and can deform in any direction. Soft robots are mainly divided into peristaltic, crawling, jumping, swimming, and grabbing soft robots according to their movement modes. According to the driving mode, it is mainly divided into fluid drive, shape memory alloy drive, chemical drive, electric drive, magnetic drive and temperature drive. Among them, peristaltic, crawling soft robots, fluid-driven, and shape-memory alloy-driven soft robots are widely studied, and soft robots with other motion modes and driving modes are still rarely involved. Hydrogel soft robots have strong biol...

AI Technical Summary

Problems solved by technology

This patent combines soft materials and mechanical structures, which can protect the grasping objects to a certain extent. Although silica gel is softer than rigid materials, it also has a certain hardness. In the process of grasping brittle materials not good

Images