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Multi-arm miniature magnetic control soft robot and motion monitoring and control method thereof

A robot and micro technology, applied in the direction of claw arms, manipulators, manufacturing tools, etc., can solve the problems of cumbersome preparation steps, poor control effect, and complex structure of micro magnetic control robots.

Active Publication Date: 2021-05-18
HUAZHONG UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] Aiming at the defects of the prior art, the present invention provides a multi-arm miniature magnetically controlled soft robot and its motion monitoring and motion control method. By designing the structure and initial magnetization direction of the robot, and gradually controlling the direction of the external magnetic field to control The movement posture of the robot aims to solve the technical problems of the prior art micro-magnetic-controlled robot with complex structure, cumbersome preparation steps, and poor control effect of certain movement postures such as overcoming obstacles or fixed-point delivery of objects under the action of an external magnetic field

Method used

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  • Multi-arm miniature magnetic control soft robot and motion monitoring and control method thereof

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preparation example Construction

[0046] The present invention also provides a preparation method of the multi-arm miniature magnetically controlled soft robot, which is characterized in that it comprises the following steps:

[0047] S1. Pour the liquid mixture obtained by uniformly mixing the magnetic particles and the soft material according to the preset ratio into a mold with a preset shape, and take it out after being completely solidified;

[0048] S2. Magnetize all the arms of the robot obtained through step S1, so that the magnetization directions are parallel to the plane where the arms are located when the robot is in a spread state, and are distributed along the radial direction.

[0049] In some embodiments, step S2 uses a magnetizer to magnetize the robot, puts the robot horizontally into the magnetizer, and sets the magnetizer to generate a radially distributed pulsed magnetic field to magnetize all arms.

[0050] In some other embodiments, the arm of the robot is radially magnetized using a dua...

specific Embodiment

[0068] Such as figure 1 As shown, the central part of the multi-arm miniature magnetically controlled soft robot is a regular hexagon 7 with a side length of 4 mm, and six strip arms 1 to 6 with a length of 10 mm and a width of 4 mm are evenly distributed around the periphery; the hexagon and the six arms are made as As a whole, the entire robot is made of a soft material formed by uniformly mixing and curing NdFeB particles with a diameter of 5 μm and silicone rubber, with a thickness of 0.8mm; each arm is magnetized, and the magnetization direction is parallel to the plane where the arm is located. Radial scattering distribution, the central polygonal area is not magnetized;

[0069] Such as figure 2 As shown, seven wireless miniature pressure sensors 8 are pasted on the central part 7 of the reverse side of the multi-arm miniature magnetically controlled soft robot and the outer ends of the arms 1-6, and its main components include a passive antenna, a ferrite film and a ...

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Abstract

The invention belongs to the field of magnetic control soft robots, and particularly relates to a multi-arm miniature magnetic control soft robot and a motion monitoring and control method thereof. When the robot is in a spreading state, the robot comprises a central head part and a plurality of arms which are uniformly distributed in the circumferential direction of the head part in a radial manner; the central head part and the multiple arms are manufactured into a whole; and each arm of the robot is magnetized in the radial direction, and the central head of the arm does not have the axial magnetization direction. A plurality of wireless micro pressure sensors are attached to the back face of the robot, and the motion state of the robot can be monitored in real time; and under the action of an external magnetic field, the robot can realize the functions of rolling forward, pivot steering, obstacle crossing and fixed-point object placement with an object. The robot is simple in structure and convenient to manufacture, and scattered assembly or step-by-step magnetizing is not needed; and remote control is achieved, movement is flexible, monitoring is easy, and accurate transportation tasks can be executed in a closed and complex environment.

Description

technical field [0001] The invention belongs to the field of magnetically controlled soft robots, and more specifically relates to a multi-arm miniature magnetically controlled soft robot and its motion monitoring and motion control methods. Background technique [0002] As a new branch of robotic bionics, micro soft robots have achieved rapid development in recent years. Traditional large-scale rigid robots have low degrees of freedom of movement and low biological affinity, making it difficult to perform precision tasks in small, complex and fragile environments. Microsoft robots have the advantages of small size, high degree of freedom, and strong environmental adaptability, and have great application value in biomedical fields such as targeted drug delivery, thrombus removal, and cell culture. The driving methods of soft robots mainly include piezoelectric drive, chemical drive, magnetic field drive, humidity drive, shape memory alloy drive and other types, and the move...

Claims

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Application Information

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IPC IPC(8): B25J15/06B25J18/00
CPCB25J15/0608B25J18/00
Inventor 李亮谢延曹全梁巨雨薇韩小涛
Owner HUAZHONG UNIV OF SCI & TECH
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