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External-field-driven double-leg standing and walking magnetic micro-robot and gait control method thereof

A technology of micro-robots and gait control, which is applied to manipulators, motor vehicles, manufacturing tools, etc., can solve the problems of low moving efficiency, complex driving methods, and single motion forms of micro-robots, and achieve good processing quality and rich motion forms , The control strategy is simple and efficient

Inactive Publication Date: 2020-04-17
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The present invention aims to solve the problems of single motion form, complex drive mode and low moving efficiency of existing micro-robots moving on solid surfaces, and provides a magnetic micro-robot driven by an external field to stand and walk with two legs and its gait control method

Method used

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  • External-field-driven double-leg standing and walking magnetic micro-robot and gait control method thereof
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  • External-field-driven double-leg standing and walking magnetic micro-robot and gait control method thereof

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specific Embodiment approach 1

[0030] Specific embodiment one: a magnetic microrobot driven by an external field to stand and walk with two legs described in this embodiment has a symmetrical sheet structure with two legs, the characteristic length H (the characteristic length refers to the height of the microrobot) is less than or equal to 1mm, and the thickness Less than or equal to 0.1mm. This size ensures that the micro-robot can move flexibly in a narrow space below 1 cm, ensuring its work efficiency.

specific Embodiment approach 2

[0031] Embodiment 2: The robot has a double leg structure, the legs are parallel to each other or at a certain angle, there is a gap between the legs, and the bottoms of the legs are pointed, which reduces the contact area between the robot and the surface. Reduce the interaction force between them and improve the movement efficiency. Others are the same as the first embodiment.

specific Embodiment approach 3

[0032] Embodiment 3: The distance L between the legs of the robot is 0.7-1 times the characteristic length H, and the shape of the robot is slender, which is convenient for the robot to carry out micro-operations and other tasks. Others are the same as in the second embodiment.

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Abstract

The invention discloses an external-field-driven double-leg standing and walking magnetic micro-robot and a gait control method thereof, and relates to the field of micro-robots and control thereof. The invention aims to solve the problems of single motion form and complex driving mode of a conventional micro-robot on the solid surface. The micro-robot disclosed by the invention is of a sheet-shaped structure with two legs. According to the gait control method of the micro-robot, three pairs of orthogonal Helmholtz coils are used for generating an oscillation magnetic field, and the micro-robot is driven to stand and walk on the solid surface. The coils generate a constant magnetic field in the vertical direction to enable the micro-robot to stand, and a swing magnetic field in the horizontal direction drives the micro-robot to walk. The walking direction of the micro-robot can be changed by adjusting the swing direction of the horizontal magnetic field, and the advancing speed of themicro-robot can be changed by changing the swing amplitude and frequency of the magnetic field. The method is suitable for the fields of medical treatment, microoperation and the like.

Description

technical field [0001] The invention relates to a two-legged walking magnetic micro-robot and a gait control method thereof, belonging to the field of micro-robots and their control. Background technique [0002] With the development of micro-nano technology and the increasing demand of people in micro-nano manufacturing, targeted medical treatment, and precision scientific experiments, micro-robots have received extensive attention and rapid development in recent years. Facing the needs of in vivo medical treatment, chemical analysis and other fields, a lot of research has been carried out on swimming microrobots in liquids. Swimming microrobots with different sizes and structures have been proposed. Based on their driving methods and control strategies, they have been extensively studied. be further expanded. However, in a narrow space, swimming microrobots can easily touch or collide with solid surfaces, which greatly reduces their movement efficiency. Compared with swi...

Claims

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Application Information

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IPC IPC(8): B25J11/00B62D57/032
CPCB25J11/00B62D57/032
Inventor 王乐锋何元哲钟立夫荣伟彬孙立宁
Owner HARBIN INST OF TECH
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