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CN-117087847-B - Bionic turtle magnetic driving soft robot

CN117087847BCN 117087847 BCN117087847 BCN 117087847BCN-117087847-B

Abstract

The invention provides a bionic turtle magnetic driving soft robot which comprises a body and limbs, wherein the limbs are symmetrically arranged on two sides of the body, each limb comprises a flexible VHB layer and a magnetic response particle layer, the flexible VHB layer is arranged between the two magnetic response particle layers, each limb comprises a left front limb, a left rear limb, a right front limb and a right rear limb, the magnetic domain arrangement direction of the magnetic response particle layer in the right front limb is opposite to the magnetic domain arrangement direction of the magnetic response particle layer in the left rear limb, the magnetic domain arrangement direction of the magnetic response particle layer in the left front limb is opposite to the magnetic domain arrangement direction of the magnetic response particle layer in the right rear limb, and the limbs on two sides of the body are deformed by applying an alternating magnetic field so as to enable the soft robot to advance or turn. The invention realizes bionic motion modes such as linear swimming, turning swimming, tracking motion and the like of the magnetically driven soft robot by regulating magnetic field parameters.

Inventors

  • XU LIN
  • LI TAO
  • YANG LIU
  • GAO CHONGYI
  • DING JIANNING

Assignees

  • 江苏大学

Dates

Publication Date
20260512
Application Date
20230818

Claims (8)

  1. 1. A bionic turtle magnetic driving soft robot is characterized by comprising a body (1) and limbs (2), wherein the limbs (2) are symmetrically arranged on two sides of the body (1), the limbs (2) comprise flexible polyacrylic acid viscoelastic body layers (3) and magnetic response particle layers (4), and the flexible polyacrylic acid viscoelastic body layers (3) are positioned between the two magnetic response particle layers (4); The limb (2) comprises a left front limb, a left rear limb, a right front limb and a right rear limb, wherein the magnetic domain arrangement direction of the magnetic response particle layer (4) in the right front limb is opposite to that of the magnetic response particle layer (4) in the left rear limb, the magnetic domain arrangement direction of the magnetic response particle layer (4) in the left front limb is opposite to that of the magnetic response particle layer (4) in the right rear limb, the magnetic domain arrangement direction of the magnetic response particle layer (4) in the left front limb is perpendicular to that of the magnetic response particle layer (4) in the left rear limb, the magnetic domain arrangement direction of the magnetic response particle layer (4) in the left front limb is perpendicular to that of the magnetic response particle layer (4) in the right front limb, and the limb (2) on two sides of the body (1) is deformed by applying an alternating magnetic field so as to enable the soft robot to advance or turn.
  2. 2. The bionic turtle magnetic driving soft robot according to claim 1, wherein the magnetic response particle layer (4) is samarium iron nitrogen magnetic powder particles, and the samarium iron nitrogen magnetic powder particles are attached to the surface of the flexible polyacrylic acid viscoelastic body layer (3) by applying pressure, so that the magnetic response particle layer (4) is formed.
  3. 3. The bionic turtle magnet driving soft robot according to claim 1, wherein the magnetic domain arrangement direction of samarium-iron-nitrogen magnetic powder particles in the magnetically responsive particle layer (4) is 30-60 degrees by magnetizing with a clamp type magnetizer.
  4. 4. The bionic turtle magnetic driving soft robot according to claim 1, wherein 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 alternating magnetic field application direction of the straight line, and the soft robot is made to move straight by applying the alternating magnetic field of the straight line.
  5. 5. The bionic turtle magnet driven soft robot of claim 4, wherein the soft robot is turned clockwise or counterclockwise by applying an alternating magnetic field which makes a turn in a direction not more than 90 ° with respect to the direction of the alternating magnetic field of the straight line.
  6. 6. The bionic turtle magnet driven soft robot according to claim 5, wherein the bending angle and the bending direction of the soft robot are changed by changing the direction of the turning alternating magnetic field to generate different deformation amounts of the limbs (2) at both sides of the body (1).
  7. 7. The bionic turtle magnetic driving soft robot according to claim 6, wherein the soft robot is caused to turn counterclockwise when the angle of the turning alternating magnetic field direction to the magnetic domain arrangement direction of the magnetically responsive particle layer (4) in the right forelimb and the right hindlimb is smaller than the angle of the turning alternating magnetic field direction to the magnetic domain arrangement direction of the magnetically responsive particle layer (4) in the left forelimb and the left hindlimb, respectively.
  8. 8. The bionic turtle magnetic driving soft robot according to claim 6, wherein the soft robot is turned clockwise when the angle of the turning alternating magnetic field direction to the magnetic domain arrangement direction of the magnetically responsive particle layer (4) in the right forelimb and the right hindlimb is larger than the angle of the turning alternating magnetic field direction to the magnetic domain arrangement direction of the magnetically responsive particle layer (4) in the left forelimb and the left hindlimb, respectively.

Description

Bionic turtle magnetic driving soft robot Technical Field The invention relates to the field of soft robots or the technical field of flexible driving, in particular to a bionic turtle magnetic driving soft robot. Background Soft robots are typically made of soft materials (e.g., silicone, polyurethane foam, rubber, etc.) whose movement is accomplished by controlling air, water, or other means. The rigid robot developed at present has the advantages of high control precision, strong bearing capacity and the like, but has relatively poor environmental adaptability, movement flexibility and man-machine interaction safety, and the defects limit the application range of the traditional robot. In order to overcome the defects of the rigid robot and expand the application field of the robot, scientists apply the principle of bionics to carry out intensive research on the tissue structure, the motion mechanism and the driving mode of the living things in the nature, and attempt to develop a robot system with stronger environment adaptability like the living things in the nature. Compared with the traditional rigid robot, the soft robot has the following advantages: ① The adaptability is stronger, and the soft robot can change the shape of the soft robot to adapt to different environments and tasks, so that the operation has higher adaptability and flexibility. ② The robot is safer, because the soft robots are made of soft materials, the soft robots are safer when being contacted with human beings or other objects, and the situation that the traditional robots are damaged or blocked by hardware materials is avoided. ③ The robot is more robust, and the soft robot can generally restore the shape when suffering unexpected impact or pressure, so that the robot has higher robustness and durability. The device plays an irreplaceable role in the biomedical field, the space detection field and the search and rescue field gradually. The magnetically driven soft robot is one kind of soft robot with magnetic material to control its motion. The magnetically driven soft robots have higher precision and control capabilities than other soft robots. Magnetically driven soft robots are typically made of soft materials, containing magnetic particles inside. After magnetic programming, the alignment direction of the magnetic particles is fixed, and the shape and movement of the robot are changed when a magnetic field is applied. By changing the intensity and direction of the magnetic field, the motion track and speed of the magnetically driven soft robot can be accurately controlled. The existing soft robots mostly adopt a bionic design method to simulate the structure and the motion characteristics selected by natural evolution, and are applied to the design of the soft robots, and if the bionic motion of the soft robots reaches the expected effect, the bionic motion depends on the design of the body structure to a great extent, and the most common soft robot structures at present mostly simulate invertebrate soft organisms in the nature. However, the driving unit of the soft robot is often designed in a single structure form, so that it is difficult to convert the driving characteristics of the soft intelligent material into the system performance advantages. Disclosure of Invention Aiming at the defects existing in the prior art, the invention provides a bionic turtle magnetic driving soft robot, which takes a polyacrylic acid viscoelastic body (VHB) embedded with samarium iron nitrogen hard magnetic particles as a flexible driving medium, and utilizes the deformation characteristic of a magnetic programming polyacrylic acid viscoelastic body-samarium iron nitrogen (VHB-SmFeN) material to realize bionic motion modes such as linear swimming, turning swimming, tracking motion and the like of the magnetic driving soft robot by regulating magnetic field parameters. The present invention achieves the above technical object by the following means. A bionic turtle magnetic driving soft robot comprises a body and limbs, wherein the limbs are symmetrically arranged on two sides of the body, each limb comprises a flexible VHB layer and a magnetic response particle layer, and the flexible VHB layer is positioned between the two magnetic response particle layers; The soft robot comprises a left front limb, a left rear limb, a right front limb and a right rear limb, wherein the magnetic domain arrangement direction of a magnetic response particle layer in the right front limb is opposite to that of the magnetic response particle layer in the left rear limb, the magnetic domain arrangement direction of the magnetic response particle layer in the left front limb is opposite to that of the magnetic response particle layer in the right rear limb, the magnetic domain arrangement direction of the magnetic response particle layer in the left front limb is perpendicular to that of the magnetic response particle layer in the left rear limb, the magneti