Traditional magnetic axis encoding methods with polydimethylsiloxane (PDMS ) rely on one-way magnetization with fixed mold,inkjet 3D printing and re-coding methods,which have some problems such as lack of encoding freedom and poor encoding stability.An UV photocuring method based on digital light processing (DLP)projection lithography is reported,combining the reorientation of magnetic particles with patterned block UV exposure by using photosensitive PDMS to achieve fast,patterned,multi-DOF magnetic programming on PDMS.The performance of PDMS magnetic axis encoding actuators with programmable fabricated by this method is tested,and its application in the field of flexible deformation device and soft robot is demonstrated.
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