Design And Research Of Bionic Adhesive Device Based On Magnetic-induced Negative Pressure

In modern industry,controllable and reversible adhesion has a wide range of applications in handling,precision manufacturing,and wall-climbing robots.Adhesion and desorption modes implemented by means such as grasping,electromagnetic,vacuum negative pressure,electrostatic adsorption,and guideway tethering generally have defects,high energy consumption,and are only suitable for specific occasions.The fieldcontrolled adhesion technology represented by the magnetic field is an emerging intelligent adhesion technology.As a magnetic-controlled material,the adhesion properties of MRP have been proven to be influenced by external magnetic fields,which provides a new way to solve the problem of adhesion reversible switching.Therefore,in this paper,a bionic adhesion device based on magnetic-induced negative pressure is proposed by combining the octopus sucker with magnetic-controlled MRP material.By imitating the octopus sucker,the bionic adhesion structure was designed and the corresponding magnetic-controlled device was constructed.The finite element method(FEM)was used to simulate and analyze the adhesion performance of the whole device and build a prototype.The adhesion experiment was also carried out.The specific research contents and conclusions of this article are as follows:1.In view of the problem of poor adhesion regulation in the current reversible adhesion device technology,the advantages of magnetic-controlled adhesion were introduced,and the research status of traditional and emerging bionic adhesion devices were reviewed,then the main research work of this paper is proposed.2.Considering the necessitous magnetic-controlled performance of the existing MRP materials,the materials were optimized by replacing the filler particles with Neodymium iron boron(Nd Fe B),preferring matrix,and optimizing content,and finally the conclusion is that when the volume content of Nd Fe B is 26.7% under 1.5 T magnetic field by normal magnetization,the material is prepared with better magnetic-controlled function,which lays the foundation for the next design of the bionic adhesion structure.3.Based on improvement of MRP,a bionic adhesive structure was designed.Firstly,the adhesion mechanism of the octopus sucker was analyzed and the bionic adhesion structure was designed accordingly,so that the micro sucker on the MRP generates negative pressure adsorption due to the magnetic-induced deformation,and the adhesion/ desorption status are switched by active magnetic field control.At the same time,the mechanical model based on the micro sucker was established,and the theoretical calculation method of the adhesion performance was derived.The analysis of the model shows that the geometric parameters of MRP and the content of particles significantly affect the adhesion performance.4.On the basis of the bionic adhesive structure,the corresponding magneticcontrolled device was designed comprehensively,and an optimization model based on the optimal magnetic field and minimum mass was established.The COMSOL finite element method was used to model,simulate and analyze the magnetic-controlled device.Evaluation provides comparison and guidance for subsequent experimental verification.5.According to the previous optimization results,the adhesion experiment test platform was built,and the magnetic-controlled adhesion characteristics of the adhesion device were explored.Besides,the experimental results were compared with the theory to verify the effectiveness of bionic design.Experiments show that for a device with 26.7 vol% filled particles,when the experimental current is 2 A,the enhanced adhesion can reach 65.94 KPa in a few seconds.Compared with other similar methods,the proposed magnetic-controlled adhesion device can achieve reversible adhesion by switching the magnetic field,which provides a new idea for the development of adhesion technology for complex scenarios.