Controllable and reconfigurable magnetization system and method of magnetic soft robot

Abstract

The invention belongs to the technical field of magnetic control soft robots, and particularly relates to a controllable and reconfigurable magnetization system and method of a magnetic soft robot. The system comprises a pulse power supply module, magnetizing coil units arranged in an up-down axial symmetry mode and a magnetic soft robot arranged between the upper magnetizing coil unit and the lower magnetizing coil unit, radial and vertical magnetic fields can be generated between the oppositely-arranged magnetizing coils by changing the relative through-flow direction of the upper magnetizing coil module and the lower magnetizing coil module, and no mechanical motion is needed. Therefore, the internal magnetization direction of the magnetic soft robot can be simply and flexibly configured. According to the invention, synchronization of particle magnetization and bidirectional orientation is realized for the first time, and a material preparation process and a magnetization process of the magnetic soft robot are decoupled, so that the whole manufacturing process is very simple, internal magnetization distribution is reconfigurable, and a brand new technical approach is provided for realizing the multifunctional magnetic soft robot.

Description

technical field [0001] The invention belongs to the technical field of magnetically controlled soft robots, and more specifically relates to a controllable and reconfigurable magnetization system and method of a magnetic soft robot. Background technique [0002] Magnetic soft robots driven by external magnetic fields have attracted extensive attention due to their significant advantages such as non-contact and strong controllability, as well as potential applications in many fields such as biomedicine and bionics. [0003] The main material of the magnetic soft robot is a magnetic composite material composed of magnetic particles and soft materials. In order to make the magnetic soft robot produce an obvious magnetic response effect under a low external magnetic field, the magnetic particles are generally made of permanent magnets such as NdFeB. Magnetic materials can have strong residual magnetization after high-field magnetization. [0004] In the field of magnetic soft r...

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Problems solved by technology

[0006] Aiming at the defects of the prior art, the present invention provides a system and method for controlling the internal magnetization characteristics of a magnetic soft robot, which performs magnetic field focusing through the magnetization coil unit arranged symmetrically on the upper and lower axes, and realizes the direction of the magnetization magnetic field in a small-scale area in conjunction with pulse current control The generation and regulation of the magneto-controlled soft robot aim to solve the problems of complex magnetization process, difficult reconstruction of internal magnetization characteristics and poor implementability in the existing technology.

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