Rolling-deformation Motion Characteristics of Magnetorheological Soft Robot
In order to realize the cable-free drive of soft robot and avoid the mutual interference of multi-degree-of-freedom magnetic structure,a magnetically driven soft robot is proposed based on magnetorheological fluid.In terms of millisecond magnetization and non-coercivity of magnetorheological fluid,a dynamic driving mode of magnetic particle chains under gradient magnetic field is designed to realize the reconfigurable magnetization function of driven structures.Firstly,the structure model and production process of the magnetorheological soft robot are stated,and a rolling-deformation motion mode of the soft robot is established.The mechanical equilibrium equations for different motion stages are established by analyzing the dynamic relationship of the soft robot under magnetic field and stress field.The COMSOL finite element software is used to simulate the single-step motion state of the magnetorheological soft robot,and the feasibility of the rolling-deformation motion mode is verified under multiple physical fields.Finally,a magnetic field control experimental platform with robotic arm-permanent magnet is built to carry out the experimental tests of single-step,continuous,obstacle crossing,slope and straight-turn.The results show that the proposed soft robot can realize stable and continuous motion in any direction in the plane,and avoiding magnetic interference between internal structures,which provides new ideas for the structural design and driving method of magnetic soft robot.
magnetorheological fluidsoft robotcable-free driverolling-deformation motionmagnetic field control
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