The invention discloses an embedded electromagnetic actuating array flexible
robot system based on pulse driving and a preparation method of the embedded electromagnetic actuating array flexible
robot system, and belongs to the technical field of flexible robots. The
system comprises a flexible actuating body, a multi-channel pulse driving controller, a sensing unit and a
processing unit. A conductive
coil array capable of independently addressing is embedded in the body, and magnetic particles are dispersed in the material of the conductive
coil array. The driving controller can output independent programmable
pulse current to each coil, a pulsed
magnetic field is excited around the coils, the
magnetic field interacts with the magnetic particles, electromagnetic force and magnetic torque are generated in the flexible body, and therefore the body is driven to generate controllable deformation. The sensing unit monitors the deformation or stress state of the body in real time, the
processing unit dynamically adjusts pulse parameters according to target deformation and sensing feedback, and precise closed-
loop control is achieved. According to the system, a space-
time division multiplexing strategy is adopted to coordinate multi-channel excitation, and
magnetic field crosstalk is effectively inhibited; and efficient thermal management is realized through combination of a low-duty-ratio pulse working mode and a high-thermal-
conductivity base material. The device has the advantages of being fast in deformation response, large in output force, high in programmable degree, accurate in control and the like, and has wide application prospects in the fields of soft robots, self-adaptive
grippers, bionic motion platforms,
medical instruments, man-
machine interaction equipment and the like.