首页|Deformation and Locomotion of Untethered Small-Scale Magnetic Soft Robotic Turtle with Programmable Magnetization

Deformation and Locomotion of Untethered Small-Scale Magnetic Soft Robotic Turtle with Programmable Magnetization

扫码查看
原文链接
  • NETL
  • NSTL
  • 万方数据
Inspired by the way sea turtles rely on the Earth's magnetic field for navigation and locomotion,a novel magnetic soft robotic turtle with programmable magnetization has been developed and investigated to achieve biomimetic locomotion patterns such as straight-line swimming and turning swimming.The soft robotic turtle(12.50 mm in length and 0.24 g in weight)is integrated with an Ecoflex-based torso and four magnetically programmed acrylic elastomer VHB-based limbs containing samarium-iron-nitrogen particles,and was able to carry a load more than twice its own weight.Similar to the limb locomo-tion characteristics of sea turtles,the magnetic torque causes the four limbs to mimic sinusoidal bending deformation under the influence of an external magnetic field,so that the turtle swims continuously forward.Significantly,when the bending deformation magnitudes of its left and right limbs differ,the soft robotic turtle switches from straight-line to turning swim-ming at 6.334 rad/s.Furthermore,the tracking swimming activities of the soft robotic turtle along specific planned paths,such as square-shaped,S-shaped,and double U-shaped maze,is anticipated to be utilized for special detection and targeted drug delivery,among other applications owing to its superior remote directional control ability.

Magnetic soft robotic turtleProgrammable magnetizationUntethered soft roboticsBending deformation

Lin Xu、Liu Yang、Tao Li、Xingbang Zhang、Jianning Ding

展开 >

School of Mechanical Engineering,Jiangsu University,Zhenjiang 212013,China

The Key Laboratory of Bionic Engineering(Ministry of Education),Jilin University,Changchun 130012,China

Shanghai Tianchun Technology Co.,Ltd,Shanghai 201802,China

School of Mechanical Engineering,Yangzhou University,Yangzhou 225009,China

展开 >

National Natural science Foundation of ChinaNational Natural science Foundation of ChinaNatural Science Foundation of Jiangsu ProvinceResearch Project of State Key Laboratory of Mechanical System and VibrationMajor Program of National Natural Science Foundation of China(NSFC)for Basic Theory and Key Technology of Tri-Co RobotsOpening project of the Key Laboratory of Bionic Engineering(Ministry of Education),Jilin University

5227529051905222BK20211068MSV20241992248301KF2023006

2024

10.1007/s42235-023-00450-x

仿生工程学报(英文版)
吉林大学

仿生工程学报(英文版)

CSTPCDEI
影响因子：0.837
ISSN：1672-6529
年,卷(期)：2024.21(2)
  • 38