A driving device for a magnetic soft robot imitating the motion of an inchworm
A driving device and robot technology, applied in the direction of magnetic objects, manipulators, program-controlled manipulators, etc., can solve the problems of slow movement speed and limited driving flexibility, and achieve the goals of increased movement speed, light and thin and flexible structural design, and flexible control Effect
Active Publication Date: 2022-03-11
HUAZHONG UNIV OF SCI & TECH
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Problems solved by technology
[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 a driving device for a magnetic soft robot imitating the motion of an inchworm, comprising: a permanent magnet, a linear motor, and a lifting platform; the lifting platform is used to carry the magnetic soft robot; the permanent magnet is placed on the linear motor; Below the platform, the permanent magnet can be driven to move along its guide rail; the permanent magnet provides a driving magnetic field under the magnetic soft robot; the magnetic moments of the magnetic particles inside the magnetic soft robot are distributed symmetrically around the center; The relative position of the magnetic soft robot regulates the size and direction of the dynamic magnetic field under the soft robot. The internal magnetic moments on both sides of the soft robot are affected by asymmetrical magnetic torque. Considering the force situation comprehensively, one foot is fixed on the ground, and the other foot is fixed on the ground. The lateral foot is dragged or lifted and moved forward, achieving a motion pattern that mimics the "push‑pull" walking gait of the inchworm. The magnetic soft robot of the invention has a fast 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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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