Optimization Design And Control Of Soft Microrobot Driven By Magnetic Field

Untethered,wirelessly,small-scale(micrometer to millimeter)micro-robots capable of independent movement are important branches of robotics.Due to their micro-size and accessibility to micro and aggregate environments,they have potential applications in various fields of industry and biomedicine.In the decades of development of magnetron microrobots,magnetron micro-robots are generally rigid body micro-robots for more research and development,but when micro-robots are involved in medical scenes or micro-manipulations,rigid bodies may cause soft tissue damage to the organs or damage the target in the operation area.Therefore,a softer and deformable magnetically controlled micro-software robot is needed,which can complete more medical actions in the human body cavity without damaging organs.Despite recent successes in using soft materials to achieve complex functions that traditional rigid robots do not have,it remains challenging to achieve excellent performance in narrow,flowing liquid conditions.Soft materials mainly come from two aspects,one is from the existing natural plant fibers with biocompatibility;the other is mainly from the development of new intelligent materials that are harmless to human organs.The three types of software studied in this paper have been explored based on these two materials.In section 2 mainly studies spiral micro-robots made from natural lotus silk bio-fibers from nature;PDMS material robots with dual-modal soft materials are studies in section 3.Section 4 focuses more on the design of the four-legged gait.Firstly,a kind of fiber helical robot from nature based on lotus root silk is proposed,and the motion analysis is carried out.The helical soft robot comes from nature,which is biocompatible and harmless to human body.The motion control is studied and the theoretical motion model is established.Secondly,a soft CTM(Cruciform Thin-film Microrobot)made of an intelligent magnetic composite material composed of an elastomer material embedded with magnetic particles(NdFeB)was designed.When the CTM is magnetized by a specific hemisphere,it is driven by applying different magnetic fields to generate magnetic moments that can cause the robot to produce predictable deformation.The programmable CTM has two modes: forklift mode and jellyfish mode.The two motion modes are modeled,velocity analysis and trajectory control,and the load capacity is tested.Moreover,the experimental scene of microsphere handling is set up to demonstrate the good handling ability.Finally,a series of quadruped miniature robots that can run and climb are developed.The movement ability of legged animals and robots comes from the combination of leg shape,material and control.For microrobots,integrating leg compliance through geometric design and material selection is an obvious step towards highly dynamic motion.Gait analysis and trajectory control are performed for quadruped crawling robots and quadruped robots simulating gait.In summary,the designed flexible robots have laid the foundation for the movement and technology of soft robots.Various types of soft robots have been developed to take advantage of the interdisciplinary field of soft matter-physics is called "robot physics" Can more easily deal with complex environments.