Fabrication Technology Of Soft Robot Based On Magnetically Controlled Thixotropic Materials

Soft robot as an important branch and hotspot in the field of robot development at present,with the development of the domestic and foreign advanced technology,various types of soft robot have been developed and applied in many fields.This paper puts forward a new intelligent magnetic control suitable for 3D printing thixotropy material.The viscosity of the material increases under the magnetic field and presents a quasi-solid state.After removing it,the viscosity decreases and fluidity recovers.The main research contents are as follows:1)The magnetically controlled thixotropic material was prepared.The rheological and mechanical properties were tested,and discuss its printability.2)Combined with the 3D printing technology of soft materials and the characteristics of magnetically controlled thixotropic materials,including motion and extrusion control system,magnetic field generation module and software control.3)Design the extrusion head.The silo with pre-shearing function is designed so that the material is pre-sheared before extrusion,which reduce viscosity and improve extrusion efficiency.The flow model and viscous fluid flow characteristics of the extrusion head were analyzed.COMSOL Multiphysics software was used to analyze and optimize the pressure,flow rate and viscosity change process of the extrusion system.4)Experimental study on printing process parameters.Through 3D printing experiments on magnetically controlled thixotropic materials,the optimal parameter combinations of driving pressure P,extrusion head moving speed v,extrusion head diameter d,stirring speed N,magnetic field strength H were obtained.5)According to the motion characteristics of natural mollusks,a peristaltic soft robot.The deformation and movement gait of the soft robot are analyzed experimentally,which verifies the feasibility of multi-material composite 3D printing magnetic-controlled thixotropic soft robot.Figure 88;Table 19;Reference 65...