| Soft robots are a kind of modern high-tech robots, which are made by soft polymer material. Soft robots have high degrees of freedom, strong adaptability to environment. These advantages have attracted a lot of scholars’ attention from domestic and international academia, which speeds up development and application of the soft robots. With the in-depth research of the experiment, soft robots will break down the monopoly of the traditional robots gradually, and be used extensively in different industries. This article has designed one kind of new-type soft robot, which named soft robot actuated by electromagnetic force. It has many advantages, such as small size, light weight, flexible movement, accurate control and remote operation. The soft robot can be used in military, exploration, rescue, medical field and so on.In this paper, a kind of soft robot actuated by electromagnetic force is designed based on the characteristics of electromagnetic actuator. Statics analysis is carried out with simplified structure, and physical prototype is verified. The author designed a kind of combined airbag which can be used to slow down electromagnetic force. Simulate the three dimension module of combined airbag with LS-DYNA; The author select components for the soft robot actuated by electromagnetic force and wrote programs. Main contents of work are listed below:1. The author design and make a kind of soft robot actuated by electromagnetic force that can be used in the fields of military reconnaissance, rescue and medical, which mimics the movement of silkworm and inchworm. Static model is built based on the structure of soft robot; Size of the soft robot is optimized; Physical prototype is manufactured; Experimental data is measured and the prototype is verified.2. Electromagnetic force is small when they are remote and huge when they are nearby, which restricts the development of electromagnetic actuator. The author designed a kind of combined airbag to improve it, and solved the problems of operation stability and working life caused by opening-closing frequently. The author combined airbag add the stride of soft robot, and accelerate its velocity;3. The ANSYS code is employed for modeling and meshing, LS-DYNA code is employed for simulating. The results prove that combined airbag do have enhanced the ability of soft robot.4. The author used SCM to control the movement of soft robot, and used wireless module to transmit the signal, which can be operated in far distance, and achieve the aim of "No tail". |
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