Driving method and system of magnetic soft robot

Abstract

The invention provides a driving method and system of a magnetic soft robot. The driving method comprises the steps that the magnetic soft robot is determined; the magnetic soft robot comprises multiple arms, and the arms are in central symmetry along the center of the magnetic soft robot and are distributed in an axial symmetry manner; the magnetic soft robot comprises at least one symmetry axis, and magnetic moments of magnetic particles in the magnetic soft robot are distributed in a central symmetry manner; when the magnetic soft robot comprises two arms, the symmetry axis of the magnetic soft robot is a straight line where the two arms of the magnetic soft robot are located; a direction-changing magnetic field is provided below the symmetry axis of the magnetic soft robot; the direction of the magnetic field changes from an acute angle to a right angle with one side of the magnetic soft robot and then changes at an acute angle; or the direction of the magnetic field changes from an acute angle to a right angle with one side of the magnetic soft robot and then changes at an obtuse angle; and under the action of the magnetic field, the magnetic soft robot crawls along the symmetry axis under the action of the magnetic field. The robot can achieve lighter, thinner and more flexible structural design, and the driving method has the higher response speed and controllability.

Description

technical field [0001] The invention belongs to the field of magnetically controlled bionic soft robots, and more specifically relates to a driving method and system for a magnetic soft robot. Background technique [0002] Compared with traditional rigid robots, soft robots have excellent flexibility, flexibility and unlimited degrees of freedom, which are suitable for complex unstructured environments and safe human-computer interaction, and have attracted widespread attention in the fields of biomedicine and bionics. Because the crawling mechanism of the inchworm is simple and easy to implement, a lot of research on the inchworm-like soft robot has been derived. So far, typical control strategies include pneumatic, hydraulic, shape memory alloy, light, voltage, magnetic field control, etc. Among them, magnetic field control is favored for its advantages of non-contact, strong penetrability, and high energy conversion efficiency. [0003] At the same time, traditional soft...

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Problems solved by technology

[0004] In view of the defects of the prior art, the purpose of the present invention is to provide a driving method and system for a magnetic soft robot, aiming at solving the problems of limited driving flexibility and slow movement speed of the soft robot at the present stage

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