Jellyfish magnetic control miniature soft robot and preparation method and driving method thereof

Abstract

The invention discloses a jellyfish magnetic control miniature soft robot. The jellyfish magnetic control miniature soft robot comprises a head and five movable arms which are arranged on the same plane, and the five movable arms are uniformly distributed in the circumferential direction of the head and are arranged in a radial manner; the movable arm comprises an upper arm, a front arm and a hand; the head, the upper arm, the front arm and the hand are sequentially connected through elastic ribs; the head part, the upper arm, the front arm and the hand are rigid parts with different magneticfield directions, so that the five movable arms can move in multiple degrees of freedom under the action of an external magnetic field, and the five movable arms can be bent and locked into a class dodecahedron under the action of the external magnetic field. The jellyfish magnetic control miniature soft robot is simple in structure and manufacturing process, easy to control, cable of achieving six movement modes including clamping objects, crawling movement, rolling movement and horizontal dragging movement, spiral swimming motion and tensioning type swimming motion mode under the driving ofa conversion magnetic field, and has extremely high biological form simulation characteristics and repeated use characteristics.

Description

technical field [0001] The invention relates to the technical field of micro-robots, in particular to a jellyfish-like magnetically controlled micro-soft robot, a preparation method and a driving method thereof. Background technique [0002] At present, there is little research on jellyfish-like robots in China, and some of the existing jellyfish-like robots are also centimeter-level, and most of them are driven by internal energy supply, and most of them are only used for underwater detection. The published patent application CN201810400089.9 discloses a multi-degree-of-freedom bionic jellyfish robot, which includes a substrate, four mechanical arms, and a biofilm; Some ordinary work environment. [0003] Due to its small size and precise components, micro-robots can be used in complex environments where other robots cannot work, for micro-positioning and micro-operations. Micro-robots have become an important direction in the development of modern robot technology, and h...

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Problems solved by technology

However, the robot is limited by its structural design, and can only move rapidly along the direction of the magnetic field, without other movement modes, and its functions are relatively single

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