| As an emerging frontier subject involving materials,machinery,communication,biomedicine and other fields,miniature soft robots are generally millimeter-scale in size and can work in small spaces that traditional robots cannot enter.At present,there are many control methods for miniature-soft robots.The use of cableless driving can reduce the size of the robot and better meet the limited space of the working environment.Therefore,cableless is an inevitable trend in the development of miniature-robots.Compared with other cableless in terms of control strategy,magnetic field drive is the best choice for controlling miniature-robots because the magnetic field is easy to generate and control,and can safely penetrate biological tissues and other materials.However,at present,the underwater motion mode of miniature-soft magnetic robot is relatively simple,the control principle of the research was flawed.It is vulnerable to external liquid,noise,friction,boundary effect and other interference,the theoretical model,underwater motion simulation analysis and dynamic and static characteristics of the research is not deep enough,resulting in its control accuracy and repeatability can not meet the requirements of practical application.In order to solve the above problems,a magnetically controlled miniature soft quadruped underwater robot is designed in this paper,and a specific magnetic signal is designed based on the magnetic drive theory.The three-dimensional Helmholtz coil generates a periodic uniform magnetic field to drive the miniature-quadruped robot to realize the jellyfish motion mode and the propeller motion mode.The simulation model of the miniature-soft quadruped robot was established.Through simulation analysis and experimental verification,the functional relationship between the bending amplitude h,the amplitude Angle θ and the magnetic induction intensity B of the miniature-soft quadruped robot was obtained.The dynamics analysis of the jellyfish mode and the propeller mode of the robot was carried out,and the dynamic relationship between the magnetic induction intensity and the robot step length was described by simulation.Further,the motion velocity law of the miniature-soft quadruped machine was verified by applying different frequency excitation signals and magnetic induction amplitude tests.On this basis,the control signals are designed to realize vertical upward,hovering,horizontal movement and other actions under the two modes respectively,so as to complete simple path tracking and the experiment of carrying goods over obstacles.The simulation and experiment of magnetic controlled miniature-quadruped underwater robot provides a new idea for the application of miniature-robot.To sum up,this project deeply explores the characteristics of the miniature quadruped robot through the dynamic analysis of the jellyfish mode and the propeller mode of the magnetically controlled miniature soft quadruped underwater robot,and the comparison and analysis of the static and dynamic characteristics of the simulation and experiment.It has a certain guiding significance for the application of miniaturesoft robot in the biomedical fields such as surgical robot and drug transporter,and has broad application prospect and practical value. |
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