Reconfigurable magnetic response soft bionic robot and control method thereof

Abstract

The invention discloses a reconfigurable magnetic response soft bionic robot and a control method thereof, and the magnetic response soft bionic robot comprises a reconfigurable magnetic elastomer and a magnetic field controller; the reconfigurable magnetic elastomer part is made of an elastomer mixed with magnetic particles, the shape can be designed for multiple times, magnetization is carried out, and therefore the magnetic response soft bionic robot can show different shapes in different driving magnetic fields, and the advancing action of the magnetic response soft bionic robot can be controlled by designing the magnetizing shape; and then a changing magnetic field is designed through a magnetic field controller to drive the magnetic response soft bionic robot to complete advancing actions of simulating inchworm crawling and rolling, and the problems that a traditional soft robot is fixed in magnetization direction, poor in environmental adaptability, single in motion mode and the like are well solved.

Description

Technical Field

[0001] The present invention relates to the technical field of bionic robots, and in particular to a reconfigurable magnetic response soft bionic robot and a control method thereof. Background Art

[0002] In robotics, soft robots have attracted much attention due to their high flexibility and adaptability. Among them, magnetically responsive soft robots have shown great potential in the fields of biomedicine and bionics due to their non-contact and strong controllability. However, traditional magnetically responsive soft robots have problems such as unadjustable magnetization direction and fixed magnetization intensity, which limit their application scope and flexibility. Therefore, how to design a magnetically responsive soft robot that is reprogrammable, compact, wirelessly driven, and can perform bionic walking movements has become a problem that needs to be solved urgently. Summary of the invention

[0003] The purpose of the present invention is to provide a reconfigurable magnetic response bionic fish and a control method thereof, aiming to solve the problems of the existing bionic robotic fish such as complex structure, large size and high energy consumption.

[0004] Specifically, the present invention provides a reconfigurable magnetically responsive soft bionic robot, wherein the reconfigurable magnetically responsive soft bionic robot is a reconfigurable magnetic elastomer;

[0005] The reconfigurable magnetic elastomer is a rectangular sheet;

[0006] The reconfigurable magnetically responsive soft bionic robot can achieve rolling motion after magnetization programming;

[0007] In the magnetization programming, the circular mold is placed horizontally along the X-axis direction;

[0008] The magnetic response soft bionic robot is wound around the circular mold with the head and tail openings facing the negative semi-axes of Y and Z at 45 degrees;

[0009] The direction of the magnetizing magnetic field is the positive half axis of Z, and the magnitude of the magnetic field is 2.5T;

[0010] After magnetization, the magnetic response soft bionic robot maintains a circular shape under a driving magnetic field with a magnetic field direction of the positive half axis Z and a magnetic field magnitude of 10 mT;

[0011] The magnetic field of the rolling action is:

[0012] A rotating magnetic field with a size of 12mT is generated from 0 to 0.1s, with a direction from the negative axis of Y through the positive axis of Z to the positive axis of Y. A rotating magnetic field with a direction from the positive axis of Y through the negative axis of Z to the negative axis of Y is generated from 0.1s to 0.2s. The rotating magnetic field is a rotating magnetic field in the YZ plane, rotating uniformly around the X axis.

[0013] Furthermore, the reconfigurable magnetic elastomer is prepared by 3D printing using ink;

[0014] The ink is SE-1700, Ecoflex-00 Part B, NdFeB powder, SE-1700 Catalyst, and silica powder in a mass ratio of 20:20:20:2:1, stirred and centrifuged for degassing;

[0015] After printing with the ink, the ink was placed in a vacuum drying constant temperature box and maintained at 70° C. for 36 hours to be completely cured.

[0016] Furthermore, the reconfigurable magnetically responsive soft bionic robot can achieve crawling motion after being magnetized in a mold;

[0017] The mold fixed magnetic response soft bionic robot is in a magnetizing magnetic field with the N pole facing the positive half axis of Z, the magnetic response soft bionic robot is parallel to the X axis and is S-shaped in the YZ plane;

[0018] The magnetic field direction of the driving magnetic field is toward the positive half axis of Z, and the intensity changes cyclically from 0 to 50 mT, controlling the reconfigurable magnetic response soft bionic robot to perform crawling action.

[0019] A control method for the reconfigurable magnetic-responsive soft bionic robot according to claims 1 to 3 is also provided, and the control method for the reconfigurable magnetic-responsive soft bionic robot comprises the following steps:

[0020] Step 1, winding the magnetic responsive soft bionic robot on a circular mold for magnetization programming;

[0021] Step 2: Use a three-dimensional Helmholtz coil to design a driving magnetic field to control the magnetic field in three directions, and obtain a vector superposition magnetic field; through the control of the three-dimensional Helmholtz coil magnetic field, the magnetic-responsive soft bionic robot can roll.

[0022] Furthermore, in step 1, the circular mold is placed horizontally along the X-axis direction during the magnetization programming;

[0023] The magnetic response soft bionic robot is wound around the circular mold with the head and tail openings facing the negative semi-axes of Y and Z at 45 degrees;

[0024] The direction of the magnetizing magnetic field is the positive half axis of Z, and the magnitude of the magnetic field is 2.5T;

[0025] After magnetization, the magnetic response soft bionic robot maintains a circular shape under a driving magnetic field with a magnetic field direction of the positive half axis Z and a magnetic field magnitude of 10 mT.

[0026] Furthermore, in step 2, the three-dimensional Helmholtz coil magnetic field is:

[0027] A rotating magnetic field with a size of 12mT is generated within 0 to 0.1s, with a direction from the negative semi-axis of Y through the positive semi-axis of Z to the positive semi-axis of Y, and a direction from the positive semi-axis of Y through the negative semi-axis of Z to the negative semi-axis of Y within 0.1s to 0.2s; the rotating magnetic field is a rotating magnetic field in the YZ plane, rotating uniformly around the X axis; the rotating magnetic field is achieved by applying a sine wave with a phase angle difference of 90° between the Y and Z axes, and the reconfigurable magnetically responsive soft bionic robot can complete a rolling motion in the rotating magnetic field.

[0028] Furthermore, the control method of the reconfigurable magnetic response soft bionic robot comprises the following steps:

[0029] Step 3, demagnetizing while maintaining the shape and direction of step 1;

[0030] Step 4, the magnetic responsive soft bionic robot is fixed and guided by a fixture to complete a second magnetization process in the magnetization magnetic field;

[0031] Step 5, generating a driving magnetic field to control the reconfigurable magnetic-responsive soft bionic robot to perform crawling movements.

[0032] Furthermore, in step 4, the magnetically responsive soft bionic robot is in a magnetizing magnetic field with the N pole facing the positive half axis of Z, the magnetically responsive soft bionic robot is parallel to the X axis and is S-shaped in the YZ plane.

[0033] Furthermore, in step 5, the magnetic field direction of the driving magnetic field is toward the positive half axis of Z, and the intensity varies cyclically from 0 to 50 mT.

[0034] The beneficial effects achieved by the present invention are:

[0035] The present invention can design the posture of the magnetic-responsive soft bionic robot through magnetization shape design and driving magnetic field control, and can exhibit a variety of moving motions by reconstructing multiple magnetization shapes. At the same time, the driving mode of the remote magnetic field and the unpowered system well imitates the crawling motions of the inchworm and the rolling motions of the cicada, demonstrating the main advantages of reconfigurable magnetization direction, non-contact drive, precise control, strong environmental adaptability and versatility. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 A schematic diagram of a reconfigurable magnetic response soft bionic robot of the present invention;

[0037] Figure 2 It is a schematic diagram of the magnetization programming design and magnetic response drive of the magnetic response soft bionic robot rolling action of the present invention;

[0038] Figure 3 It is a schematic diagram of magnetization programming design and magnetic response driving of the crawling action of the magnetic response soft bionic robot of the present invention;

[0039] Figure 4 A schematic diagram of magnetic field design and explanation of the magnetic field controller of the present invention;

[0040] Figure 5 A schematic diagram of a rolling motion segment of the magnetic-responsive soft bionic robot of the present invention;

[0041] Figure 6 It is a schematic diagram of a crawling action segment of the magnetic-responsive soft bionic robot of the present invention. DETAILED DESCRIPTION

[0042] The technical solution of the present invention is described in more detail below in conjunction with the accompanying drawings. The present invention includes but is not limited to the following embodiments.

[0043] Embodiment 1:

[0044] like Figure 1 As shown, this embodiment provides a reconfigurable magnetic response soft bionic robot, which can be transformed into two motion modes through reprogramming design;

[0045] Preparation process of reconfigurable magnetically responsive soft bionic robot: SE-1700, Ecoflex-00 Part B, NdFeB powder, SE-1700 Catalyst, and silica powder are stirred at a mass ratio of 20:20:20:2:1 and centrifuged for degassing to obtain a uniform precursor ink for magnetically responsive soft bionic robot. The above ink is used for 3D printing design to prepare a reconfigurable magnetic elastomer. The sample is a rectangular sheet of 40×8×0.25mm. After 3D printing is successful, the model needs to be placed in a vacuum drying thermostat at 70°C for 36 hours to fully solidify. This temperature can accelerate the curing and molding of the reconfigurable magnetic elastomer without affecting the NdFeB particles. After curing, a reconfigurable magnetically responsive soft bionic robot can be obtained.

[0046] Embodiment 2:

[0047] This embodiment provides a control method for a reconfigurable magnetic response soft bionic robot, and the specific implementation scheme of the method is as follows:

[0048] Step 1 - magnetization stage, the shape of magnetization programming is designed according to the rolling action Figure 2 (a). The cylindrical mold is printed with an FDM 3D printer, and the sample is wrapped around the circular mold and placed horizontally. Figure 2(b) As shown. The magnetization programming operation is completed under the magnetization magnetic field of the PFD-2000 fast demagnetization machine. The magnetization magnetic field is vertically upward and the magnetic field size is 2.5T. The sample can maintain a circular state under the driving magnetic field with a vertical upward direction and a magnetic field size of about 10mT. Figure 2 As shown in (c), the model can finally be controlled to achieve rolling function by applying a rotating magnetic field.

[0049] Step 2: Magnetic response driving stage, the magnetic response soft bionic robot that has been magnetized is placed in the driving magnetic field of a three-dimensional Helmholtz coil of model PS-3HM400. Figure 4 As shown in (a), we define the directions inside as marked in the figure. By controlling the magnetic field in three directions, a vector superposition magnetic field can be obtained. By controlling the magnetic field of the three-dimensional Helmholtz coil, the rolling motion of the magnetic responsive soft bionic robot can be realized. Figure 4 The magnetic field design shown in (b) and (c) can generate a rotating magnetic field with a magnitude of 12mT from the negative half axis of Y through the positive half axis of Z to the positive half axis of Y within 0 to 0.1s, and from the positive half axis of Y through the negative half axis of Z to the negative half axis of Y within 0.1s to 0.2s. This magnetic field is a rotating magnetic field in the YZ plane, and the magnetic field rotates uniformly around the X axis. Figure 4 As shown in (b), the above rotating magnetic field can be achieved by applying a sine wave with a phase angle of 90° between the Y and Z axes. The magnetically responsive soft bionic robot can complete the forward "rolling" action in the rotating magnetic field. If it wants to "roll" in the reverse direction, it only needs to reverse the waveform in the Z direction, that is, It can be simplified as z = sin(t) becomes z = -sin(t), such as Figure 5 This action is usually used in environments where creatures move quickly, such as the rolling of crickets and tumbleweeds. Figure 5 The XY plane is represented.

[0050] Step 3 - demagnetization stage, the magnetic response soft bionic robot model is fixed and guided by a fixture, such as Figure 2 As shown in (b), the demagnetization operation is completed under the demagnetization magnetic field of the PFD-2000 fast demagnetization machine, so that the magnetization direction of the magnetic particles inside is arranged irregularly, ready for the reconstruction process.

[0051] Step 4 - Reconstruction stage, the magnetic response soft bionic robot model is fixed and guided by a fixture, such as Figure 3As shown in (a) and (b), the magnetization programming operation is completed under the magnetization magnetic field of the PFD-2000 fast demagnetization machine, so that the magnetization directions of the magnetic particles inside are all uniformly arranged. The model can maintain the "S" state under a vertical driving magnetic field of about 50mT. Figure 3 (c) as shown.

[0052] Step 5 - the second magnetic response driving stage, after the magnetic response soft bionic robot is magnetized again through the above process, the magnet is used as a driving source and placed directly below the magnetic response soft bionic robot, so that a vertical magnetic field can be generated. By controlling the repeated up and down movement of the magnet, a vertical upward cyclically changing magnetic field with an intensity of 0 to 50mT is successfully constructed. Under the action of this magnetic field, the model exhibits a crawling action, and the relevant clips are as follows Figure 6 If the magnetic response soft bionic robot is to realize turning motion, it only needs to place another magnet of the same type vertically on the side of the robot in the opposite direction of the desired turning direction to provide it with the magnetic field required for turning, so as to realize the turning motion of the robot, and then realize the omnidirectional crawling motion of the robot.

[0053] Crawling as a way of biological movement helps organisms better adapt to various complex terrains and environments. Compared with other ways of movement, crawling can save energy more effectively for animals and plants. Animals such as seals and loopers are good at using this movement strategy.

[0054] The technical solution of the present application is described in detail above in conjunction with the accompanying drawings. The present invention discloses a reconfigurable magnetic-responsive soft bionic robot and a control method thereof, which solves the problems of existing traditional soft robots in terms of fixed magnetization direction, poor environmental adaptability, and single motion mode.

[0055] The present invention is not limited to the above-mentioned specific implementation modes. A person skilled in the art may implement the present invention in various other specific implementation modes according to the embodiments and the disclosure of the drawings. Therefore, any design that adopts the design structure and concept of the present invention and makes some simple transformations or changes shall fall within the scope of protection of the present invention.

Claims

1. A reconfigurable magnetic response soft bionic robot, characterized in that: The reconfigurable magnetically responsive soft bionic robot is a reconfigurable magnetic elastomer; The reconfigurable magnetic elastomer is a rectangular sheet; The reconfigurable magnetically responsive soft bionic robot can achieve rolling motion after magnetization programming; In the magnetization programming, the circular mold is placed horizontally along the X-axis direction; The magnetic response soft bionic robot is wound around the circular mold with the head and tail openings facing the negative semi-axes of Y and Z at 45 degrees; The direction of the magnetizing magnetic field is the positive half axis of Z, and the magnitude of the magnetic field is 2.5T; After magnetization, the magnetic response soft bionic robot maintains a circular shape under a driving magnetic field with a magnetic field direction of the positive half axis Z and a magnetic field magnitude of 10 mT; The magnetic field of the rolling action is: A rotating magnetic field with a size of 12mT is generated from 0 to 0.1s, with a direction from the negative axis of Y through the positive axis of Z to the positive axis of Y. A rotating magnetic field with a direction from the positive axis of Y through the negative axis of Z to the negative axis of Y is generated from 0.1s to 0.2s. The rotating magnetic field is a rotating magnetic field in the YZ plane, rotating uniformly around the X axis.

2. The reconfigurable magnetic response soft bionic robot according to claim 1, characterized in that: The reconfigurable magnetic elastomer is prepared by 3D printing using ink; The ink is SE-1700, Ecoflex-00 Part B, NdFeB powder, SE-1700 Catalyst, and silica powder in a mass ratio of 20:20:20:2:1, stirred and centrifuged for degassing; After printing with the ink, the ink was placed in a vacuum drying constant temperature box and maintained at 70° C. for 36 hours to be completely cured.

3. The reconfigurable magnetic response soft bionic robot according to claim 1, characterized in that: The reconfigurable magnetic response soft bionic robot can achieve crawling motion after being magnetized in a mold; The mold fixed magnetic response soft bionic robot is in a magnetizing magnetic field with the N pole facing the positive half axis of Z, the magnetic response soft bionic robot is parallel to the X axis and is S-shaped in the YZ plane; The magnetic field direction of the driving magnetic field is toward the positive half axis of Z, and the intensity changes cyclically from 0 to 50 mT, controlling the reconfigurable magnetic response soft bionic robot to perform crawling action.

4. A control method based on the reconfigurable magnetic response soft bionic robot according to claims 1-3, characterized in that: The control method of the reconfigurable magnetic response soft bionic robot comprises the following steps: Step 1, winding the magnetic responsive soft bionic robot on a circular mold for magnetization programming; Step 2: Use a three-dimensional Helmholtz coil to design a driving magnetic field to control the magnetic field in three directions, and obtain a vector superposition magnetic field; through the control of the three-dimensional Helmholtz coil magnetic field, the magnetic-responsive soft bionic robot can roll.

5. The control method of the reconfigurable magnetic response soft bionic robot according to claim 4, characterized in that: In step 1, the circular mold is placed horizontally along the X-axis direction during the magnetization programming; The magnetic response soft bionic robot is wound around the circular mold with the head and tail openings facing the negative semi-axes of Y and Z at 45 degrees; The direction of the magnetizing magnetic field is the positive half axis of Z, and the magnitude of the magnetic field is 2.5T; After magnetization, the magnetic response soft bionic robot maintains a circular shape under a driving magnetic field with a magnetic field direction of the positive half axis Z and a magnetic field magnitude of 10 mT.

6. The control method of the reconfigurable magnetic response soft bionic robot according to claim 5, characterized in that: In step 2, the three-dimensional Helmholtz coil magnetic field is: A rotating magnetic field with a size of 12mT is generated within 0 to 0.1s, with a direction from the negative semi-axis of Y through the positive semi-axis of Z to the positive semi-axis of Y, and a direction from the positive semi-axis of Y through the negative semi-axis of Z to the negative semi-axis of Y within 0.1s to 0.2s; the rotating magnetic field is a rotating magnetic field in the YZ plane, rotating uniformly around the X axis; the rotating magnetic field is achieved by applying a sine wave with a phase angle difference of 90° between the Y and Z axes, and the reconfigurable magnetically responsive soft bionic robot can complete a rolling motion in the rotating magnetic field.

7. The control method of the reconfigurable magnetic response soft bionic robot according to claim 4, characterized in that: The control method of the reconfigurable magnetic response soft bionic robot comprises the following steps: Step 3, demagnetizing while maintaining the shape and direction of step 1; Step 4, the magnetic responsive soft bionic robot is fixed and guided by a fixture to complete a second magnetization process in the magnetization magnetic field; Step 5, generating a driving magnetic field to control the reconfigurable magnetic-responsive soft bionic robot to perform crawling movements.

8. The control method of the reconfigurable magnetic response soft bionic robot according to claim 7, characterized in that: In step 4, the magnetically responsive soft bionic robot is in a magnetizing magnetic field with the N pole facing the positive half axis of Z. The magnetically responsive soft bionic robot is parallel to the X axis and is S-shaped in the YZ plane.

9. The control method of the reconfigurable magnetic response bionic fish according to claim 6, characterized in that: In step 5, the magnetic field direction of the driving magnetic field is toward the positive half axis of Z, and the intensity varies cyclically from 0 to 50 mT.

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