Motion Analysis and Experiment of Sheet Small Magnetron Soft Robot

• Published in: 2022 8th International Conference on Control Science and Systems Engineering (ICCSSE) pp. 105 - 109
• Main Authors: Ma, Haoyun, Zhang, Pan, Wu, Jundong, Wang, Yawu
• Format: Conference Proceeding
• Language: English
• Published: IEEE 14.07.2022
• Subjects: Control systems; creep and step; Force; Legged locomotion; magnetically-controlled; Manufacturing processes; small-soft robot; Soft robotics; Systems engineering and theory; Wires
• DOI: 10.1109/ICCSSE55346.2022.10079877

In the past, most robots used rigid structures. With the development of intelligent materials, more and more soft materials began to be used in the manufacture of robots. Magnetic-driven soft robot is one of its important branches. Because of the flexibility of magnetoelastic composite robots and the harmlessness of magnetic field to human body, a magnetically-controlled soft robot has broad application prospects in medical fields such as disease diagnosis and treatment in human body. A small lamellate magnetic soft robot is designed in this paper with the advantages of small volume, light weight, high deformation, fast and simple manufacture. And it can be driven without wire under the control of the magnetic field formed by the three-dimensional Helmholtz coil. The robot can walk and crawl on the surface of magnetically-controlled. The motion characteristics of the magnetic soft robot such as crawling step length and bending height are analyzed. The data are collected through experiments to analyze the relationship between the control signal and the motion characteristics.