An electromagnetically driven soft crawling robot

Abstract

The invention relates to a soft robot, specifically to an electromagnetically driven soft climbing robot. The electromagnetically driven soft climbing robot comprises soft unit cells, a head part and six pairs of frictional abdominal feet, wherein the soft unit cells form a body; and each soft unit cell mainly comprises a liquid cavity, a flexible electromagnet, a surface skin structure and a conductive hyperelastic material embedded into the surface skin. Each two unit cells are glued together through a rubber material; and a wireless transceiver module is mounted in the head part. The flexible electromagnets are symmetrically placed in the soft unit cells 1 in an up-and-down direction; the flexible electromagnets in the unit cells are connected with the wireless transceiver module through the conductive hyperelastic materials embedded into the surface skin structures, wherein the surface skin structures are made of polymer elastomer materials with telescopic deformation abilities; and the liquid cavities are placed in the soft unit cells in a biased manner. According to the electromagnetically driven soft climbing robot, the soft unit cells are deformed by using mutual attraction between the flexible electromagnets when being electrified; and when the attraction disappears in a power failure state, the climbing motion of the soft climbing robot is realized by using the contraction principle of the skin elastic materials and the friction forces of the frictional abdominal feet.

Description

technical field [0001] The invention relates to the driving field of soft robots, in particular to an electromagnetically driven soft crawling robot. Background technique [0002] In recent years, with the development of new materials and rapid processing and manufacturing technology, soft robot technology has become a research hotspot in the field of robotics. Compared with traditional rigid robots, it has many advantages. In theory, it has infinite degrees of freedom, does not require complex mechanisms, and is easy to achieve multifunctionality. It can better adapt to unknown or complex unstructured working environments through deformation. It is in flexible contact with the operation object, can operate objects with complex and different shapes, and has little damage to itself and the operation object. It has a wide range of applications in physical assisted medical rehabilitation, minimally invasive surgery, complex environment search and detection, etc. prospect. [...

AI Technical Summary

Problems solved by technology

[0004] In order to solve the problem of rigid units in existing soft robots, the present invention provides a soft crawling robot driven by flexible electromagnets. The robot uses some soft units to replace the rigid parts in traditional robots, and basically realizes a fully soft robot. The concept of robots

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