Experimental And Theoretical Studies On The Mechanical Behaviors Of Key Structures In The Magnetic Field-Driven Robot

Intelligent micro robots have a wide range of applications in many fields.These robots can move in the narrow and inaccessible areas to perform some precise tasks,so they play an important role in biomedicine,precision machinery manufacturing,environmental detection and other fields.Magnetic field-driven robot has the advantages of non-contact control,high degree of freedom,convenient design and flexible use,so it stands out among many intelligent micro robots.Compared with the traditional intelligent robot,the magnetic field control has better security.The magnetic device can be operated in any biological environment without any interaction with biological tissue.However,due to the complexity of the motion and magnetic field distribution of the magnetic micro robot,it is challenging to design its structure and analyze its deformation in the process of force-magnetic coupling.Due to the difficulty of theoretical analysis and related experiments,research in this area is in its infancy.Based on the knowledge of continuum mechanics,some key parts of the magnetic control robot are studied systematically.Firstly,the deformation of the magnetic disk in the magnetic field of the cylindrical permanent magnet is explored,which provides a theoretical basis for the design of the magnetic robot.In the experiment,we successfully master a new disk preparation technology.For the fabricated magnetic disk,we observe its deformed configuration and compared it with the theoretical solution,scaling law and numerical simulation results.It is found that the experimental results are consistent with the theoretical analysis.Then the contact force between the disk and the substrate is calculated,and the numerical results are in good agreement with the experimental results.Finally,it is found that the negative pressure of the disk will cause the water column connected with the water to rise,which can be explained by the theoretical model proposed in this paper.These findings are of great significance in the fields of controllable micro devices,robot technology and high-precision measurement.Next,the adhesion and peeling behavior of the magnetic beam in its own magnetic field environment is studied.The critical parameters of adhesion and delamination of magnetic beams with different spacings are tested by experiments.Combine with the deformation theory of slender elastic beams,considering the change of magnetic potential energy,the delamination model of magnetic beams is established.The adhesion length of the magnetic beam is calculated by using the principle of stationary potential energy,and the results are compared with the experimental results.Finally,a new type of magnetic control robot with two crawling modes is designed.The magnetic robot has two magnetization directions,which can be driven by external magnetic field and realize two kinds of crawling modes.In addition,the force of the magnetic robot in different positions are simulated by COMSOL software.Combine with the force conditions of the magnetic robot,the crawling motion process is analyzed,which lays a foundation for improving the motion performance of the magnetic robot.