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

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 ...

AI Technical Summary

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.

Deflection curves are underused in the analysis of magnetic field-induced motion processes (especially jumping motions)

At the same time, due to the neglect of practical factors such as damping force, the reliability of theoretical analysis is also average, and the calculated predicted value is far from the actual value measured by experiment.

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