System Design,Simulation And Experimental Research Of Magnetic Driven Bionic Soft Robot

Robots have received widespread attention in the past few decades,and compared to traditional rigid robots,soft robots have greater flexibility,safety and plasticity,so they have received a lot of attention.Wireless driving of soft robots is one of the important research directions.Currently,soft robots are mainly driven by chemical methods or physical fields(such as electric,magnetic,sound and light fields,etc.).Among them,magnetic field is easy to generate and control,and has no side effects on human body,so it is widely used to control and drive soft robots.However,there are still some shortcomings in the use of magnetic field control for soft robots,for example,the driving magnetic field is complicated and difficult to generate easily;Soft robots move relatively slowly.This article aims to address the above issues.First,the essence of the magnetoelectric phenomenon and the commonly used Helmholtz coils were introduced,followed by an analysis of the magnetic field generated by the Helmholtz coils using COMSOL software.Then,a three-dimensional magnetic driving system based on Helmholtz coils was designed and constructed.Specifically,a signal generator with three channels was selected,which can independently produce three different waveform signals with parameters such as frequency and phase;Then,three power amplifiers were selected to receive the waveform signals from the signal generator’s three channels and convert them into currents that are input into the subsequent coil groups to generate a magnetic field;The design and selection of the three-axis Helmholtz coil group are then carried out,and a magnetic driving system based on Helmholtz coils was constructed.Finally,Two types of soft robots,namely whale shaped soft robots and inchworm shaped soft robots,were then designed and fabricated.Using the constructed magnetic driving system,both types of soft robots were subjected to motion control.Under magnetic field control,both types of soft robots can complete their motion along the predetermined trajectory,and the effects of factors such as magnetic induction strength and frequency on their motion were investigated.The results showed that within a certain range,increasing the size and frequency of the magnetic field can improve the motion speed of the whale shaped soft robot,but when the values exceed a certain threshold,the motion speed will decrease instead.For the inchworm shaped soft robot,the motion state was determined by exploring factors such as the distance between magnets,the shape of the inchworm,and magnetic field parameters.The motion performance of the inchworm shaped soft robot is explored through load experiments,assembly experiments,etc.