Inchworm-imitating movement driving device of magnetic soft-bodied robot
A driving device and robot technology, which can be applied to magnetic objects, manipulators, program-controlled manipulators, etc., and can solve the problems of slow movement speed and limited driving flexibility.
Active Publication Date: 2021-05-18
HUAZHONG UNIV OF SCI & TECH
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[0004] In view of the defects of the prior art, the object of the present invention is to provide a driving device for a magnetic soft robot imitating the motion of an inchworm, aiming at solving the problems of limited driving flexibility and slow moving speed of the soft robot at the present stage
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[0045] 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.
[0046]The invention provides a drive device for an inchworm-like magnetic soft robot, which realizes reciprocating motion of the soft robot with controllable speed and direction. Wherein, the magnetic soft robot is a composite of magnetic particles and flexible materials, and has a centrosymmetric internal magnetization distribution after magnetization; the driving device includes: an auxiliary axial lifting platform, driving a permanent magnet and a linear motor. The driving method is briefly described as follows: the permanent magnet is driven by a linear motor control strategy to generate a cont...
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The invention provides an inchworm-imitating movement driving device of a magnetic soft-bodied robot. The inchworm-imitating movement driving device of the magnetic soft-bodied robot comprises a permanent magnet, a linear motor and a lifting table. The lifting table is used for bearing the magnetic soft-bodied robot; the permanent magnet is arranged on the linear motor; the linear motor is arranged below the lifting table and can drive the permanent magnet to move along a guide rail of the permanent magnet; the permanent magnet provides a driving magnetic field below the magnetic soft-bodied robot; the magnetic moments of magnetic particles in the magnetic soft-bodied robot are distributed in a central symmetry mode; the linear motor regulates and controls the size and the direction of a dynamic magnetic field below the soft-bodied robot by changing the relative position of the driving magnet and the magnetic soft-bodied robot; and the internal magnetic moments of the two sides of the soft-bodied robot are subjected to the asymmetric magnetic torque effect, the stress condition is comprehensively considered, the single-side foot is fixed on the ground, and the foot on the other side is dragged or lifted up and moves forwards, so that the imitating of the motion mode of the push-pull walking gait of the inchworm is realized. The magnetic soft-bodied robot provided by the invention is high in movement speed.
Description
technical field [0001] The invention belongs to the field of magnetically controlled bionic soft robots, and more particularly relates to a driving device for a magnetic soft robot that imitates the motion of an inchworm. 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 th...
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Login to View More IPC IPC(8): B25J9/10B25J19/00H01F13/00
CPCB25J9/10B25J19/00H01F13/003
Inventor 李亮巨雨薇曹全梁谢延韩小涛
Owner HUAZHONG UNIV OF SCI & TECH