The Study Of Motion Characteristics And Path-Following Control Of Magnetically Actuated Micro-Soft Robot

As an emerging frontier discipline,micro-robot has promoted the further development of robotics technology,and the concept of micro-robot was proposed in the 1950 s.In the past,micro robots mostly used rigid mechanism design.In recent years,with the rapid development of micro-processing technique and materials science and technology,flexible materials have been introduced into the field of micro-robots,resulting in the discipline of micro-robots,which is represented by micro-processing operations and minimally invasive medicine.Micro robots are small and can operate in complex and narrow spaces.They have broad application prospects in the fields of medical care,military defense,bioengineering and micro-manufacturing.The micro-soft robot has the characteristics of low density,simple design and production,biodegradability and high deform ability.The introduction of flexible materials can enable the robot to display more motion patterns with the ability to complete a variety of tasks.Cable function and set-in battery are the traditional energy supply methods,which require the robot to have electronic circuit equipment and action actuators.However,the micro-soft robot constructed with flexible materials is small,and it is difficult to supply and drive energy in a built-in way.Cable drive is the preferable option to solve the problem of robot energy supply.Based on the above analysis,this paper conducts related research,chooses the magnetic field drive control theory as the energy supply method of the micro robot,and builds the software and hardware experimental control system based on the principle of3 D Helmholtz coils to generate the magnetic field.Use Lab VIEW software platform to build a software and hardware experimental control system,which uses TCP connection to realize dual-computer operation,which improves system computing performance.Carry out structural design of micro-soft robots,explore and optimize robot fabrication process,make a physical model of the robot and test their performance.Analyze the relevant characteristics of the micro robot and establish a quasi-static balance equation,and use four excitation signals to explore the robot's motion response characteristics.Analyze the movement speed characteristics of the micro robot and establish related mathematical models,and explore the influence of the changes in the driving signal and the related parameters of the robot activity space on the robot movement speed.On this basis,the micro-robot path following strategy is formulated,the related control algorithm is written,and the open and closed loop path following experiments of the robot are carried out.