磁気駆動によるマンタ型マイクロソフトロボットの作製と遊泳運動の研究
Preparation and Motion Study of Magnetically Driven Micro Soft Robot Mimicking the Cownose Ray
マンタ（トビエイ）の遊泳原理を模倣し、NdFeBとPDMSで作製した磁気応答型マイクロソフトロボットを3次元ヘルムホルツコイルで駆動し、磁場パラメータが遊泳性能に与える影響を実験的に調べた。
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著者: Jiaqing Chang, Song Gao, Chaowei Dong, zhaobang Li, Yang Liu
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
In narrow, unstructured underwater environments such as environmental monitoring and minimally invasive medical procedures, micro soft robots exhibit unique advantages due to their flexible movement capabilities and small size. At the same time, applying bionic technology to the structural design of micro soft robots can significantly improve their swimming performance. However, limited by their miniaturization, these robots are difficult to power internally and usually adopt a wireless power supply method. This study designs and fabricates a magnetically responsive, cownose ray-inspired micro soft robot based on the swimming principle of the cownose ray. The robot is made of a certain proportion of NdFeB and PDMS. Then, a three-dimensional Helmholtz coil is used to generate an oscillating harmonic magnetic field to conduct swimming experiments on the robot, exploring the influence of magnetic field parameters on the robot's swimming performance. The experimental results show that the swimming speed is the fastest at B = 5 mT and f = 11 Hz, reaching 5.25 mm/s, which is about 0.5 body lengths per second. In addition, by adjusting the current direction and frequency of the coil, the robot can perform different swimming modes such as straight swimming, turning swimming, and directional swimming. By employing a stepwise adjustment method, the impact of response errors on the robot's trajectory can be effectively reduced. This study demonstrates a method for magnetically driven micro soft robots, laying a foundation for the application of wireless-driven robots in underwater narrow spaces.
関連論文
- 磁気駆動ソフト連続ロボットの運動性能を高める設計フレームワークソフトロボティクス/磁気駆動
