Method for analyzing jumping dynamic state of flexible micro magnetic control robot

A technology of micro-robots and analysis methods, applied in the direction of instruments, special data processing applications, complex mathematical operations, etc., can solve the problem that it is difficult to reach the predetermined destination, the theoretical model of the jumping dynamics of micro-magnetic-controlled robots is not satisfactory, and theoretical analysis general reliability issues

Pending Publication Date: 2021-08-31
TSINGHUA UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

If the movement of the object is not controlled, it will be difficult to reach the intended destination, which will greatly weaken its effect
Second, the force of an object in the human body is very complicated
[0006] However, in previous studies, theoretical models for the jumping dynamics of micro-magnetized robots are far from satisfactory.

Method used

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  • Method for analyzing jumping dynamic state of flexible micro magnetic control robot
  • Method for analyzing jumping dynamic state of flexible micro magnetic control robot
  • Method for analyzing jumping dynamic state of flexible micro magnetic control robot

Examples

Experimental program
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Effect test

Embodiment

[0099] The following is a specific flexible micro-magnetized robot as an example to describe the complete method of its jumping dynamic analysis.

[0100] (1) Preparation of micro soft robots

[0101] The base material of the micro soft robot body is Ecoflex 00-10 polymer matrix (Smooth-On Inc.; density is 1.04g / cm3) loaded with NdFeB magnetic particles (MQP15-7, Magnequench; average The diameter is 5μm and the density is 7.61g / cm3). The Ecoflex 00-10 polymer matrix provides the basic strength and elasticity of the robot body, while the NdFeB particles give the robot the ability to respond to magnetic fields and achieve different modes of motion. The resulting magnetic robot has a density of 1.85 g / cm3.

[0102]During the fabrication process of the robot, the polymer matrix and NdFeB magnetic particles are cast onto flat glass to form a thin film, while being thoroughly stirred and mixed to obtain a homogeneous composition. The material was exposed to air at room temperatur...

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Abstract

The invention discloses a method for analyzing jumping dynamics of a flexible miniature magnetic control robot, which comprises the following steps of: describing a steady-state deflection curve which can be reached by the robot during quasi-static deformation by adopting numerical analysis, applying the steady-state deflection curve to a large-deflection jumping model, and comprehensively applying a steady-state analysis method and a transient analysis method. The influence of different magnetic field intensities on deformation of the robot is analyzed theoretically, the process and essence of vertical jumping are clarified, the theoretical minimum magnetic field intensity enabling the robot to jump is obtained, and the jumping height of the robot under the certain magnetic field intensity is predicted by constructing a mathematical model.

Description

technical field [0001] The invention belongs to the field of micro-robots, and in particular relates to an analysis method for jumping dynamics of a flexible micro-magnetic-controlled robot. Background technique [0002] Accurately placing objects in the external environment at their proper positions in the human body is of great importance in biomedicine. For example, drugs for targeted therapy need to act directly on the lesion to ensure that the most appropriate concentration of the drug is applied to the lesion to achieve the best therapeutic effect without negatively interfering with other tissues. Damaged organs and tissues are repaired with the aid of instruments that need to be in the correct position to function. However, how to achieve precise positioning in the human body is a big challenge. [0003] First, the internal environment of the human body is small and complex, and tissues and organs of different shapes are distributed in different locations. Objects ...

Claims

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Application Information

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IPC IPC(8): G06F30/23G06F17/13G06F119/14
CPCG06F17/13G06F30/23G06F2119/14
Inventor 卢元李尚松刘东杨灿
Owner TSINGHUA UNIV
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