A biomimetic turtle magnetic-driven soft robot

Abstract

The application provides a biomimetic turtle magnetic drive soft robot, which comprises a body and limbs; the body is symmetrically provided with the limbs on both sides; the limb comprises a flexible VHB layer and a magnetic response particle layer, and the flexible VHB layer is located between the two magnetic response particle layers; the limb comprises a left forelimb, a left hind limb, a right forelimb and a right hind limb; the magnetic domain arrangement direction of the magnetic response particle layer in the right forelimb is opposite to that of the magnetic response particle layer in the left hind limb, and the magnetic domain arrangement direction of the magnetic response particle layer in the left forelimb is opposite to that of the magnetic response particle layer in the right hind limb; by applying an alternating magnetic field, the limbs on both sides of the body are deformed, so as to make the soft robot advance or turn. The application realizes the biomimetic motion modes such as straight swimming, turning swimming and tracking motion of the magnetic drive soft robot by regulating the magnetic field parameters.

Description

Technical Field

[0001] This invention relates to the field of soft robots or flexible drive technology, and particularly to a biomimetic turtle magnetically driven soft robot. Background Technology

[0002] Soft robots are typically made of soft materials such as silicone, polyurethane foam, rubber, etc., and their movement is achieved by controlling air, water, or other means.

[0003] While rigid robots, which are currently well-developed, possess advantages such as high control precision and strong load-bearing capacity, their environmental adaptability, movement flexibility, and human-robot interaction safety are relatively poor. These shortcomings limit the application scope of traditional robots. To overcome the deficiencies of rigid robots and expand their application areas, scientists have applied biomimetic principles to conduct in-depth research on the tissue structure, movement mechanisms, and actuation methods of organisms in nature, attempting to develop robot systems with strong environmental adaptability similar to those of organisms in nature.

[0004] Compared to traditional rigid robots, soft robots have the following advantages:

[0005] ① Greater adaptability: Soft robots can change their shape to adapt to different environments and tasks, thus their operation has greater adaptability and flexibility.

[0006] ② Safer: Because soft robots are made of soft materials, they are safer when in contact with humans or other objects, avoiding the damage to hardware materials or people getting stuck that can occur with traditional robots.

[0007] ③ Greater robustness: Soft robots can typically recover their shape after being subjected to accidental impacts or pressure, thus exhibiting greater robustness and durability. They are increasingly playing an irreplaceable role in the fields of biomedicine, space exploration, and search and rescue.

[0008] A magnetically driven soft robot is a type of soft robot whose movement is controlled by magnetic materials. Compared to other soft robots, magnetically driven soft robots offer higher precision and controllability. Magnetically driven soft robots are typically made of soft materials and contain magnetic particles. After magnetic programming, the alignment of these magnetic particles is fixed, and the robot's shape and movement change when a magnetic field is applied. By changing the strength and direction of the magnetic field, the trajectory and speed of the magnetically driven soft robot can be precisely controlled.

[0009] Existing soft robots mostly employ biomimetic design methods, mimicking the structures and motion characteristics selected through natural evolution and applying them to soft robot design. The effectiveness of biomimetic motion in soft robots largely depends on the design of their body structure. Currently, the most common soft robot structures imitate invertebrate soft organisms in nature. However, the drive units of soft robots are often designed with a single structural form, making it difficult to translate the driving characteristics of soft intelligent materials into system performance advantages. Summary of the Invention

[0010] To address the shortcomings of existing technologies, this invention provides a biomimetic turtle magnetically driven soft robot. The magnetically driven soft robot uses polyacrylic acid viscoelastic (VHB) embedded with samarium iron nitrogen hard magnetic particles as a flexible driving medium. By utilizing the deformation characteristics of the magnetically programmed polyacrylic acid viscoelastic-samarium iron nitrogen (VHB-SmFeN) material, and by adjusting the magnetic field parameters, the robot achieves biomimetic motion modes such as linear swimming, turning swimming, and line-following motion.

[0011] The present invention achieves the above-mentioned technical objectives through the following technical means.

[0012] A biomimetic turtle magnetically driven soft robot includes a body and limbs; the body has limbs symmetrically arranged on both sides; the limbs include a flexible VHB layer and a magnetically responsive particle layer, with the flexible VHB layer located between the two magnetically responsive particle layers.

[0013] The limbs include a left forelimb, a left hindlimb, a right forelimb, and a right hindlimb. The magnetic domains of the magnetic response particle layer in the right forelimb are arranged in the opposite direction to those in the left hindlimb, the magnetic domains of the magnetic response particle layer in the left forelimb are arranged in the opposite direction to those in the right hindlimb, the magnetic domains of the magnetic response particle layer in the left forelimb are arranged perpendicular to those in the left hindlimb, and the magnetic domains of the magnetic response particle layer in the left forelimb are arranged perpendicular to those in the right forelimb. By applying an alternating magnetic field, the limbs on both sides of the body deform, which is used to enable the soft robot to move forward or turn.

[0014] Furthermore, the magnetically responsive particle layer is composed of samarium iron nitrogen magnetic powder particles, which are attached to the surface of the flexible VHB layer by applying pressure, thereby forming the magnetically responsive particle layer.

[0015] Furthermore, by using a clamp magnetizer, the magnetic domains of the samarium iron nitrogen magnetic powder particles inside the magnetic response particle layer are aligned at an angle of 30° to 60°.

[0016] Furthermore, by changing the direction of the uniform magnetic field, different deformations are generated on the limbs on both sides of the body, which can be used to change the bending angle and bending direction of the soft robot.

[0017] Furthermore, the magnetic domain alignment direction of the magnetic response particle layer in the left forelimb and the magnetic domain alignment direction of the magnetic response particle layer in the right forelimb are orthogonal magnetic fields that form a straight alternating magnetic field. By applying the straight alternating magnetic field, the soft robot can move in a straight line.

[0018] Furthermore, by applying an alternating magnetic field that makes an angle of no more than 90° with the direction of the straight-moving alternating magnetic field, the soft robot can be made to turn clockwise or counterclockwise.

[0019] Furthermore, when the angle between the direction of the alternating magnetic field for turning and the magnetic domain arrangement direction of the magnetic response particle layer in the right forelimb or right hindlimb is less than the angle between the direction of the alternating magnetic field for turning and the magnetic domain arrangement direction of the magnetic response particle layer in the left forelimb or left hindlimb, the soft robot is made to turn counterclockwise.

[0020] Furthermore, when the angle between the direction of the alternating magnetic field for turning and the magnetic domain arrangement direction of the magnetic response particle layer in the right forelimb or right hindlimb is greater than the angle between the direction of the alternating magnetic field for turning and the magnetic domain arrangement direction of the magnetic response particle layer in the left forelimb or left hindlimb, the soft robot is made to turn clockwise.

[0021] The beneficial effects of this invention are as follows:

[0022] 1. The biomimetic turtle magnetically driven soft robot of the present invention has the characteristics of high degree of freedom and strong continuous deformation capability. The magnetic drive has the characteristics of remote cableless control, large output force, fast response speed and high penetration.

[0023] 2. The flexible VHB layer of the biomimetic turtle magnetically driven soft robot of the present invention is located between two layers of magnetically responsive particle layers; the limbs include a left forelimb, a left hindlimb, a right forelimb, and a right hindlimb; the magnetic domain arrangement direction of the magnetically responsive particle layer in the right forelimb is opposite to that in the left hindlimb, the magnetic domain arrangement direction of the magnetically responsive particle layer in the left forelimb is opposite to that in the right hindlimb, the magnetic domain arrangement direction of the magnetically responsive particle layer in the left forelimb is perpendicular to that in the left hindlimb, and the magnetic domain arrangement direction of the magnetically responsive particle layer in the left forelimb is perpendicular to that in the right forelimb; by applying an alternating magnetic field, the limbs on both sides of the body deform, causing the soft robot to move forward or turn, that is, the movement direction and posture of the magnetic field soft robot can be changed.

[0024] 3. The biomimetic turtle magnetically driven soft robot of the present invention can turn clockwise or counterclockwise by applying an alternating magnetic field that makes an angle of no more than 90° with the direction of the straight alternating magnetic field.

[0025] 4. The biomimetic turtle magnetically driven soft robot of the present invention can achieve tracking motion by using magnetic field drive and ensure the accuracy of the path. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. The drawings described below are some embodiments of the present invention. For those skilled in the art, it is obvious that other drawings can be obtained from these drawings without creative effort.

[0027] Figure 1 This is an external view of the biomimetic turtle magnetically driven soft robot described in this invention.

[0028] Figure 2 This refers to the magnetic domain alignment direction of the magnetic response particle layer described in this invention.

[0029] Figure 3 This is a schematic diagram of the soft robot described in this invention moving in a straight line under a magnetic field.

[0030] Figure 4 This invention describes the soft robot's turning motion under a magnetic field.

[0031] Figure 5 This is a schematic diagram of motion in the soft robot maze described in this invention.

[0032] In the picture:

[0033] 1-Body; 2-Limbs; 3-Flexible VHB layer; 4-Magnetic responsive particle layer. Detailed Implementation

[0034] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0035] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "axial," "radial," "vertical," "horizontal," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0036] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0037] like Figure 1 As shown, the biomimetic turtle magnetically driven soft robot of the present invention includes a body 1 and limbs 2; limbs 2 are symmetrically arranged on both sides of the body 1; each limb 2 includes a flexible VHB layer 3 and a magnetically responsive particle layer 4, the flexible VHB layer 3 being located between the two magnetically responsive particle layers 4; the magnetically responsive particle layer 4 is composed of samarium iron nitride magnetic powder particles, which are adhered to the surface of the flexible VHB layer 3 by applying pressure, thereby forming the magnetically responsive particle layer 4, ensuring adhesion and bonding strength. Magnetization is performed using a clamp-type magnetizer, causing the magnetic domains of the samarium iron nitride magnetic powder particles inside the magnetically responsive particle layer 4 to align at an angle of 30~60°, such as... Figure 2 As shown. In this embodiment, the iron particle magnetic domains inside the magnetically responsive particle layer 4 are arranged at 45°. The body 1 is manufactured by mold casting and is made of silicone ecoflex-30.

[0038] The limbs 2 include a left forelimb, a left hindlimb, a right forelimb, and a right hindlimb; the left forelimb and left hindlimb are attached to the left side of the body 1, and the right forelimb and right hindlimb are attached to the right side of the body 1, with the limbs 2 on both sides of the body 1 arranged symmetrically. The magnetic domain arrangement direction of the magnetic response particle layer 4 in the right forelimb is opposite to that in the left hindlimb, the magnetic domain arrangement direction of the magnetic response particle layer 4 in the left forelimb is opposite to that in the right hindlimb, the magnetic domain arrangement direction of the magnetic response particle layer 4 in the left forelimb is perpendicular to that in the left hindlimb, and the magnetic domain arrangement direction of the magnetic response particle layer 4 in the left forelimb is perpendicular to that in the right forelimb; by applying an alternating magnetic field, the limbs 2 on both sides of the body 1 are deformed, which is used to enable the soft robot to move forward or turn. Figure 3 The arrows in limb 2 indicate the magnetic domain alignment direction of the magnetic response particle layer 4.

[0039] like Figure 3 As shown, the magnetic domain alignment direction of the magnetic response particle layer 4 in the left forelimb and the magnetic domain alignment direction of the magnetic response particle layer 4 in the right forelimb form a perpendicular alternating magnetic field. By applying this perpendicular alternating magnetic field, the soft robot moves linearly. In this embodiment, the magnetic domain alignment direction of the magnetic response particle layer 4 in the left forelimb is perpendicular to the forward direction, and the magnetic domain alignment direction of the magnetic response particle layer 4 in the right forelimb is the forward direction. Therefore, the perpendicular magnetic field direction is 45° to the left of the forward direction. Figure 3 In the direction B, a straight alternating magnetic field is applied, keeping the soft robot's axis of rotation constant, causing the soft robot to produce forward and upward linear motion.

[0040] By applying an alternating magnetic field that makes an angle of no more than 90° with the direction of the straight-moving alternating magnetic field, the soft robot can turn clockwise or counterclockwise. Changing the direction of the alternating magnetic field during turning causes different deformations in the limbs 2 on both sides of the body 1, thus altering the bending angle and direction of the soft robot. When the angle between the direction of the alternating magnetic field during turning and the magnetic domain alignment direction of the magnetic response particle layer 4 in the right forelimb or right hindlimb is less than the angle between the direction of the alternating magnetic field during turning and the magnetic domain alignment direction of the magnetic response particle layer 4 in the left forelimb or left hindlimb, the soft robot moves counterclockwise. When the angle between the direction of the alternating magnetic field during turning and the magnetic domain alignment direction of the magnetic response particle layer 4 in the right forelimb or right hindlimb is greater than the angle between the direction of the alternating magnetic field during turning and the magnetic domain alignment direction of the magnetic response particle layer 4 in the left forelimb or left hindlimb, the soft robot moves clockwise.

[0041] The smaller the angle between the direction of the alternating magnetic field during the turn and the direction of the alternating magnetic field traveling straight, the larger the turning radius. When the angle between the direction of the alternating magnetic field during the turn and the direction of the alternating magnetic field traveling straight is 90 degrees, the turning angle is the smallest, which can be understood as a sharp turn. For example... Figure 4 In the embodiment shown, two alternating magnetic fields B of equal magnitude and perpendicular direction are applied. X and B Y B X and B Y The direction of the orthogonal magnetic field is at 90° to the direction of the perpendicular alternating magnetic field, B X and B Y The angle between the direction of the orthogonal magnetic field and the magnetic domain alignment direction of the magnetic response particle layer 4 in the right forelimb is less than B. X and B Y The angle between the direction of the orthogonal magnetic field and the magnetic domain alignment direction of the magnetic response particle layer 4 in the left forelimb, B X and B Y The angle between the direction of the orthogonal magnetic field and the magnetic domain alignment direction of the magnetic response particle layer 4 in the right hind limb is less than B. X and B Y The angle between the direction of the orthogonal magnetic field and the magnetic domain arrangement direction of the magnetic response particle layer 4 in the left hind limb causes the soft robot to rotate counterclockwise.

[0042] like Figure 5 The maze shown is divided into linear motion and turning motion. When linear motion is required for the soft robot, an alternating magnetic field is applied to make the soft robot move in a straight line. When turning motion is required for the soft robot, an alternating magnetic field is applied in a turning direction with an angle not exceeding 90° from the direction of the linear alternating magnetic field, making the soft robot turn clockwise or counterclockwise.

[0043] It should be understood that although this specification is described according to various embodiments, not every embodiment contains only one independent technical solution. This way of describing the specification is only for clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0044] The detailed descriptions listed above are merely specific illustrations of feasible embodiments of the present invention and are not intended to limit the scope of protection of the present invention. All equivalent embodiments or modifications made without departing from the spirit of the present invention should be included within the scope of protection of the present invention.

Claims

1. A biomimetic turtle magnetically driven soft robot, characterized in that, It includes a body (1) and limbs (2); the body (1) is symmetrically provided with limbs (2) on both sides; the limbs (2) include a flexible polyacrylic viscoelastic layer (3) and a magnetically responsive particle layer (4), the flexible polyacrylic viscoelastic layer (3) being located between the two magnetically responsive particle layers (4); The limbs (2) include a left forelimb, a left hindlimb, a right forelimb, and a right hindlimb; the magnetic domain arrangement direction of the magnetic response particle layer (4) in the right forelimb is opposite to that of the magnetic domain arrangement direction of the magnetic response particle layer (4) in the left hindlimb, the magnetic domain arrangement direction of the magnetic response particle layer (4) in the left forelimb is opposite to that of the magnetic domain arrangement direction of the magnetic response particle layer (4) in the right hindlimb, the magnetic domain arrangement direction of the magnetic response particle layer (4) in the left forelimb is perpendicular to that of the magnetic response particle layer (4) in the left hindlimb, and the magnetic domain arrangement direction of the magnetic response particle layer (4) in the left forelimb is perpendicular to that of the magnetic response particle layer (4) in the right forelimb; by applying an alternating magnetic field, the limbs (2) on both sides of the body (1) are deformed, which is used to make the soft robot move forward or turn.

2. The biomimetic turtle magnetically driven soft robot according to claim 1, characterized in that, The magnetic response particle layer (4) is composed of samarium iron nitrogen magnetic powder particles. By applying pressure, the samarium iron nitrogen magnetic powder particles are attached to the surface of the flexible polyacrylic viscoelastic layer (3) to form the magnetic response particle layer (4).

3. The biomimetic turtle magnetically driven soft robot according to claim 1, characterized in that, Magnetization is performed using a clamp magnetizer to make the magnetic domains of the samarium iron nitrogen magnetic powder particles inside the magnetic response particle layer (4) align at 30~60°.

4. The biomimetic turtle magnetically driven soft robot according to claim 1, characterized in that, The magnetic domain arrangement direction of the magnetic response particle layer (4) in the left forelimb and the magnetic domain arrangement direction of the magnetic response particle layer (4) in the right forelimb are the same direction of the applied alternating magnetic field. By applying the applied alternating magnetic field, the soft robot can move in a straight line.

5. The biomimetic turtle magnetically driven soft robot according to claim 4, characterized in that, By applying an alternating magnetic field that makes an angle of no more than 90° with the direction of the straight-moving alternating magnetic field, the soft robot can be made to turn clockwise or counterclockwise.

6. The biomimetic turtle magnetically driven soft robot according to claim 5, characterized in that, By changing the direction of the alternating magnetic field during turning, different deformations are generated on the limbs (2) on both sides of the body (1), which is used to change the bending angle and bending direction of the soft robot.

7. The biomimetic turtle magnetically driven soft robot according to claim 6, characterized in that, When the angle between the direction of the alternating magnetic field for turning and the magnetic domain arrangement direction of the magnetic response particle layer (4) in the right forelimb and right hindlimb is smaller than the angle between the direction of the alternating magnetic field for turning and the magnetic domain arrangement direction of the magnetic response particle layer (4) in the left forelimb and left hindlimb, the soft robot is turned counterclockwise.

8. The biomimetic turtle magnetically driven soft robot according to claim 6, characterized in that, When the angle between the direction of the alternating magnetic field for turning and the magnetic domain arrangement direction of the magnetic response particle layer (4) in the right forelimb and right hindlimb is greater than the angle between the direction of the alternating magnetic field for turning and the magnetic domain arrangement direction of the magnetic response particle layer (4) in the left forelimb and left hindlimb, the soft robot is turned clockwise.

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