Design And Fabrication Of Miniature Electromagnetic Bionic Robots

In order to solve low driving efficiency and limited obstacle avoidance ability of micro robots,Inspired by the ejection of chameleon tongue and the crawling way of worms in nature,a kind of manipulator and a micro robot based on electromagnetic drive are designed.Through numerical simulation and experiment,the movement ability and obstacle avoidance ability of the robot are verified.The realization mechanism of rapid ejection and grasping function of the robot is revealed,and the adaptive obstacle avoidance principle of the robot is clarified.The influence of relevant parameters on the movement of micro gripper and worm like micro robot is explored,and some parameters are optimized and regulated.A reasonable combination of parameters is obtained,and the design method for driving mode and obstacle avoidance for micro robot is proposed.The bionic structure was fabricated by 3D printing technology,and the ejection distance,velocity and acceleration of the ejection process were measured and analyzed by means of high-speed camera and numerical simulation.The results showed that the ejection velocity of bionic tongue is close to that of real chameleon.When the input voltage increased from 280 V to 360 V,the speed of bionic tongue increased in all stages of the ejection process,but when the voltage is higher than 320 V,the lifting effect decreased.When the length of the magnet block increased from 16 mm to 28 mm,the velocity of the bionic tongue decreased in the early stage of the ejection process,but increased in the middle and late stage of the ejection process,and the ejection distance increased with the increase of the length of the magnet block.When the length of the tongue increased from 100 mm to 200 mm,the speed of the bionic tongue is similar in the whole ejection process,but the ejection distance increased obviously.The micro soft grip can capture objects of various shapes and sizes(1 mm-150 mm)with a distance of100 mm to 300 mm in 80 ms.The designed worm like robot is similar to the real worm in motion.The maximum instantaneous speed of moving on the horizontal board can reach 60 mm/s.The weight of the heaviest object that can be pushed is 2.2 times of its own weight.It can climb 5~oslope and 10~oslope.In the time of 15 s,it can adaptively turn 90~o.It can pass through six obstacle spaces with different shapes in 24 s and has the ability to pass through continuous and complex contour obstacles.And it passed through a"s"maze with length and width of 3-4 times of its own in 120 s.The theoretical results provided a new idea for the design and preparation of the micro multifunctional robot without cable.