Double-field cooperative driving omni-directional motion robot and driving method thereof

A robot and field synergy technology, applied in the field of flexible robots, can solve the problems of poor active obstacle avoidance, insufficient omnidirectional movement, and reduced controllability of the robot's movement direction, and achieve the effect of increasing the degree of freedom of manipulation

Active Publication Date: 2021-06-15
JILIN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, this solution leads to a decrease in the controllability of the robot’s motion direction and a deterioration in its active obstacle avoidance ability. It is difficult to achieve effective exploration of a full-plane space, and it is even more insufficient in omnidirectional motion. It is difficult to solve it with existing technologies.

Method used

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  • Double-field cooperative driving omni-directional motion robot and driving method thereof
  • Double-field cooperative driving omni-directional motion robot and driving method thereof
  • Double-field cooperative driving omni-directional motion robot and driving method thereof

Examples

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Effect test

Embodiment 1

[0028] A dual-field cooperatively driven omnidirectional motion robot, such as figure 1 -(a), consisting of a main structure 1 with magnetic response and a secondary structure 2 with light response, the main structure 1 is a double-layer film with multiple foot structures on the edge, wherein the upper layer of the double-layer film is magnetic Responsive material, the lower layer is a flexible material; the main structure 1 will produce macroscopic deformation under the action of an external magnetic field, and the internal stress will accumulate directionally, thus determining the overall movement direction of the robot, such as figure 1 -(b); the secondary structure 2 is a plurality of double-layer drivers arranged on the foot structure, the upper layer of the double-layer driver is a material with both optical response and magnetic response, and the lower layer is a flexible material; the secondary structure 2 is in Driven by the external light field, it will bend to reali...

Embodiment 2

[0030] This embodiment provides a dual-field cooperatively driven omnidirectional motion robot, the preparation method of which is as follows:

[0031] Step 1: material preparation;

[0032] The preparation process of the magnetic response material in the upper layer of the main structure 1 includes ferric oxide nanoparticles prepared by the chemical co-precipitation method, which have superparamagnetic properties (concentration is 50 mg / mL). Graphene oxide (concentration is 10mg / mL) prepared in batches by Hummers method. The two materials are compounded and stirred, and the composite volume ratio is 1:50. This composite material has both superparamagnetic properties and certain light-to-heat conversion capabilities;

[0033] The composite material is directly attached to the polymer film by spin coating and evaporation. The thickness range of the composite material film after spin coating and evaporation is 5 μm. The flexible polymer can choose commercial film with a thickne...

Embodiment 3

[0049] A driving method for an omnidirectional mobile robot driven by double-field coordination. Specifically, the main structure will undergo macroscopic deformation under the action of an external magnetic field, and the internal stress of the main structure will accumulate directionally, thereby determining the overall movement direction of the robot; Under the coordinated drive of the field, the robot realizes the process of shifting the center of gravity and moving at the same time, so that the secondary structure of the robot walks along the stress direction of the main structure.

[0050] Such as Figure 4 As shown in Fig. 1 , it is an example of a robot walking to the right, and the force analysis in the process of cooperative driving of the magnetic field and the light field. In the initial state, the robot has a symmetrical macrostructure with a single bending arc due to the symmetrical structure. When a rightward magnetic field is applied to the robot, the entire c...

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Abstract

The invention discloses a double-field cooperative driving omni-directional motion robot and a driving method thereof, and belongs to the technical field of flexible robotics. The omni-directional motion robot is composed of a main body structure with magnetic response and a secondary structure with light response, wherein the main body structure is a double-layer film with the edge comprising a plurality of foot structures; the main body structure can generate macroscopic deformation under the action of an external magnetic field, internal stress is directionally accumulated, and the walking direction of the robot is determined; the secondary structure comprises a plurality of double-layer drivers arranged on the foot structure; the secondary structure can be bent under the driving of an external light field to realize a stepping process; and under cooperative driving of an external magnetic field and a light field, the robot achieves the gravity center shifting and advancing processes at the same time, and therefore the robot walks in the stress direction of the main body structure. The two energy fields are used for driving the robot at the same time, and the control process combining macroscopic overall deformation and fine local deformation of the robot is achieved.

Description

technical field [0001] The invention belongs to the technical field of flexible robots, and in particular relates to a dual-field cooperatively driven omnidirectional motion robot and a driving method thereof. Background technique [0002] A robot is a type of machine device that can automatically perform preset tasks and has a variety of motion functions. Among them, the mobile function broadens the activity space of the robot and is one of the important functions required for its work. The robot's movement methods include rolling, wriggling, walking, jumping, swimming, etc. The walking movement method can well cope with the movement process of unknown topography surfaces, and has low requirements for surface roughness. The walking process is realized by the coordinated movement of the legs and feet. The walking method helps to achieve obstacle crossing, and can also reduce the friction and collision between the robot and the surrounding environment during the movement pro...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0236G05D1/024G05D1/0242G05D1/0259
Inventor 孙洪波韩冰张永来
Owner JILIN UNIV
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