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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.

Inactive Publication Date: 2019-07-26
JIANGSU UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The robot can move in a straight line and turn more stably, but due to its complex mechanical structure, the cooperation and transmission between each part will cause a large control deviation

Method used

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

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Embodiment Construction

[0034] The present invention will be further described below with reference to the drawings and specific embodiments, but the protection scope of the present invention is not limited to this.

[0035] The magnetically driven peristaltic soft robot based on magnetically programmed temperature-sensitive hydrogel of the present invention includes a first moving body and a second moving body. The two ends of the second moving body are respectively connected to the first moving body, and the second moving body It is a temperature-responsive hydrogel containing magnetic particles; the second moving body is deformed by applying an alternating magnetic field to the second moving body. The second moving body has an upper and lower double-layer structure, the upper layer 2 is a double-network cross-linked hydrogel, and the lower layer 3 is a temperature-responsive hydrogel containing magnetism, and an alternating magnetic field is applied to the second moving body. , So that the deformatio...

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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.

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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Application Information

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IPC IPC(8): B25J9/00
CPCB25J9/00B25J9/0009
Inventor 徐琳刘思远丁建宁张坤李佳奇刘春成程广贵张忠强王晓东
Owner JIANGSU UNIV
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