A Programmable Inchworm-Inspired Soft Robot Powered by a Rotating Magnetic Field
作者机构：School of Electromechanical and Automotive EngineeringYantai UniversityYantai264005China State Key Laboratory of RoboticsShenyang Institute of AutomationChinese Academy of SciencesShenyang110016China
出 版 物：《Journal of Bionic Engineering》 (仿生工程学报（英文版）)
年 卷 期：2023年第20卷第2期
页 面：506-514页
核心收录：
学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程]
基 金：the funding provided by the National Natural Science Foundation of China(Project no.62273289) Graduate Innovation Foundation of Yantai University and Joint fund of Science&Technology Department of Liaoning Province and State Key Laboratory of Robotics(Project no.2021-KF-22-03)
主 题：Soft robot Bio-inspired soft robot Magnetic actuation
摘 要：With the growing demand for miniaturized workspaces,the demand for microrobots has been increasing in robotics *** to traditional rigid robots,soft robots have better robustness and *** a flexible structure,soft robots can undergo large deformations and achieve a variety of motion *** are working to design and fabricate flexible robots based on biomimetic principles,using magnetic fields for cable-free *** this study,we propose an inchworm-shaped soft robot driven by a magnetic ***,a robot is designed and fabricated and force analysis is ***,factors affecting the soft robot’s motion speed are examined,including the spacing between the magnets and the strength and frequency of the magnetic *** this basis,the motion characteristics of the robot in different shapes are explored,and its motion modes such as climbing are experimentally *** results show that the motion of the robot can be controlled in a two-dimensional plane,and its movement speed can be controlled by adjusting the strength of the magnetic field and other *** proposed soft robot is expected to find extensive applications in various fields.
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