Magnetic-drive peristaltic soft-body robot based on magnetic programming temperature-sensitive hydrogel

A temperature-sensitive hydrogel, magnetic drive technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve the problems of complex mechanical structure and large control deviation, and achieve the effect of good narrow space environment, stable deformation effect and convenient control.
CN110053020AInactive Publication Date: 2019-07-26JIANGSU UNIV
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Patent Information

Authority / Receiving Office
CN · China
Current Assignee / Owner
JIANGSU UNIV
Publication Date
2019-07-26
Estimated Expiration
Not applicable · inactive patent

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Abstract

The invention provides a magnetic-drive peristaltic soft-body robot based on a magnetic programming temperature-sensitive hydrogel. The magnetic-drive peristaltic soft-body robot comprises a first moving body and a second moving body, the two ends of the second moving body are both connected with the first moving body, and the second moving body is the temperature-responsive hydrogel containing magnetic particles; the first moving body and the second moving body are deformed by applying an alternating magnetic field to the second moving body; and the second moving body is of an upper and lowerdouble-layer structure, the upper layer is a double-network cross-linked hydrogel, the lower layer is a magnetic temperature-responsive hydrogel, the alternating magnetic field is applied to the second moving body, so that the deformation amount of the lower layer is larger than that of the upper layer. According to the magnetic-drive peristaltic soft-body robot, the magnetic field is used for driving the hydrogel to deform, so that wireless control is realized, and the wired restriction is broken.
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Description

Technical field

[0001] The invention relates to the field of soft robots, in particular to a magnetically driven peristaltic soft robot based on magnetically programmed temperature-sensitive hydrogel. Background technique

[0002] After hundreds of millions of years of evolution, low-grade invertebrate molluscs such as worms, earthworms, inchworms, sandworms, etc., which are widely bred in nature, realize peristaltic motion through bending, contraction, and elongation of the body. They have amazing physical intelligence. With the ability to adapt to the environment, the bionic peristaltic soft robot inspired by it shows unparalleled advantages in pipeline inspection, minimally invasive surgery and other fields, especially in narrow environments.

[0003] In recent years, with the continuous progress of materials science, robotics, biomechanics, sensing and control and other disciplines, it has helped the research and development of bionic peristaltic soft robots and achieved revolu...

Claims

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