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Heterogeneous integration method of soft robot based on viscous transfer printing

An integrated method, robot technology, applied in the direction of manipulators, manufacturing tools, etc.

Active Publication Date: 2021-03-12
HUAZHONG UNIV OF SCI & TECH
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Problems solved by technology

[0003] However, there are still many engineering limitations in the realization of heterogeneous, multifunctional magnetic robots, which prevent rapid and low-cost realization
In addition, there are few methods that can conveniently simultaneously preset structures with 3D magnetic domains and 3D shapes, and reconstruct existing soft magnetic robots offline

Method used

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  • Heterogeneous integration method of soft robot based on viscous transfer printing
  • Heterogeneous integration method of soft robot based on viscous transfer printing
  • Heterogeneous integration method of soft robot based on viscous transfer printing

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Embodiment Construction

[0028] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not constitute a conflict with each other.

[0029] see figure 1 , figure 2 , image 3 , Figure 4 and Figure 5 , the heterogeneous integration method of a soft magnetic robot based on adhesive transfer printing provided by the present invention, the heterogeneous integration method mainly includes the following steps:

[0030] Step 1: Mix NdFeB ferromagnetic microparticles into polydimethylsiloxane prepolymer (PDMS) and cross-linki...

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Abstract

The invention belongs to the technical field of soft robot manufacturing, and discloses a heterogeneous integration method of a soft robot based on viscous transfer printing. The method comprises thefollowing steps that (1) a magnetic film is pre-cured and then placed in a magnetized magnetic field to rearrange ferromagnetic microparticles in the magnetic film, and a magnetized magnetic film witha specific magnetic domain direction is obtained; and then the magnetic film is heated and cured; (2) the magnetic film is transferred to a donor substrate, the magnetic film is cut into patterned magnetic vector units and a remaining part by using laser, and meanwhile, the remaining part is subjected to surface ablation by using laser to selectively change the surface viscosity of the remainingpart, so that the surface viscosity of the magnetic vector units and the remaining part forms differentiation; and (3) the magnetic vector units are transferred to a soluble viscous receptor substrateby using a viscous stamp, and the magnetic vector units are glued and then placed in water to be dissolved, so that the soft magnetic robot is obtained. According to the heterogeneous integration method, the flexibility and applicability are improved, and the process is simple.

Description

technical field [0001] The invention belongs to the technical field related to the manufacture of soft robots, and more specifically relates to a method for heterogeneous integration of soft robots based on adhesive transfer printing. Background technique [0002] The development of soft robots has endowed robots with better adaptability and passability in some specific application scenarios. Magnetic robots have remote operation methods and fast response capabilities, and have become a major research hotspot in the field of soft robots. How to accurately preset specific continuous or discrete magnetic domains in a three-dimensional soft substrate directly determines the response characteristics and behavior of soft magnetic robots. With the development of technology, a series of manufacturing technologies have been developed in recent years, such as template method, magnetic ink direct writing method, photocuring method, etc., which realize the digitization of magnetic robo...

Claims

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Application Information

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IPC IPC(8): B25J19/00
CPCB25J19/007
Inventor 吴志刚柯星星张硕柴治平江佳俊
Owner HUAZHONG UNIV OF SCI & TECH
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