A driving method and system for a magnetic soft robot
A driving method and robot technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as slow movement speed and limited driving flexibility, and achieve high response speed and controllability, light and thin and flexible structural design Effect
Active Publication Date: 2022-03-11
HUAZHONG UNIV OF SCI & TECH
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[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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[0036] In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention.
[0037] The invention provides a driving method of a magnetic soft robot, which realizes the reciprocating motion of the magnetic soft robot with controllable speed and direction. The magnetic soft robot is a composite of magnetic particles and flexible materials, and has a center-symmetric internal magnetization distribution after being magnetized.
[0038] figure 1 The flow chart of the driving method of the magnetic soft robot provided by the embodiment of the present invention; such as figure 1 shown, including the following steps:
[0039] S101, determine a magnetic soft robot; the ...
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The invention provides a driving method and system for a magnetic soft robot, comprising: determining the magnetic soft robot; the magnetic soft robot includes a plurality of arms, and each arm is center-symmetrical and axisymmetrically distributed along the center of the magnetic soft robot; the magnetic soft robot It includes at least one axis of symmetry, and the magnetic moments of the magnetic particles inside it are distributed centrally symmetrically; when the magnetic soft robot includes two arms, the axis of symmetry is the straight line where the two arms of the magnetic soft robot are located; below the symmetric axis of the magnetic soft robot Provide a magnetic field that changes direction; 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; under the action of a magnetic field , the magnetic soft robot crawls along the symmetry axis subjected to the magnetic field. The robot of the invention can realize thinner and more flexible structural design, and the driving method has higher response speed and controllability.
Description
technical field [0001] The invention belongs to the field of magnetically controlled bionic soft robots, and more particularly 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-robot interaction, and have attracted widespread attention in the fields of biomedicine and bionics. Because the crawling mechanism of inchworm is simple and easy to realize, a large number of inchworm-like soft robots have been studied. So far, the typical control strategies include pneumatic, hydraulic, shape memory alloy, light, voltage, magnetic field control, etc. Among them, the magnetic field control has the advantages of non-contact, strong penetration, and high energy conversion efficiency and is favored. [0003] At the same time, the traditional dri...
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IPC IPC(8): B25J9/00B25J9/06B25J9/10
Inventor 李亮曹全梁巨雨薇谢延韩小涛
Owner HUAZHONG UNIV OF SCI & TECH