• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2020, Vol. 56 ›› Issue (17): 39-47.doi: 10.3901/JME.2020.17.039

• 机器人及机构学 • 上一篇    下一篇

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磁控微型软体爬行机器人运动特性

向红标1,2, 李岩1,2, 巴简程1,2, 王收军1,2, 黄显3, 徐航3   

  1. 1. 天津理工大学天津市先进机电系统设计与智能控制重点实验室 天津 300384;
    2. 天津理工大学机电工程国家级实验教学示范中心 天津 300384;
    3. 天津大学精密仪器与光电子工程学院 天津 300372
  • 收稿日期:2019-10-10 修回日期:2020-03-10 出版日期:2020-09-05 发布日期:2020-10-19
  • 通讯作者: 向红标(通信作者),男,1982年出生,副教授。主要研究方向为微型机器人,伺服控制技术。E-mail:xhb@tju.edu.cn
  • 作者简介:李岩,男,1995年出生,硕士研究生。主要研究方向为柔弹性复合材料、微型机器人。E-mail:1521630658@qq.com
  • 基金资助:
    国家重点研发计划资助项目(2017YFB1302100)。

Motion Characteristics of Magnetic Control Micro-soft Crawling Robot

XIANG Hongbiao1,2, LI Yan1,2, BA Jiancheng1,2, WANG Shoujun1,2, HUANG Xian3, XU Hang3   

  1. 1. Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, Tianjin University of Technology, Tianjin 300384;
    2. National Demonstration Center for Experimental Mechanical and Electrical Engineering Education, Tianjin University of Technology, Tianjin 300384;
    3. School of Precision Instruments & Opto-Electronics Engineering, Tianjin University, Tianjin 300372
  • Received:2019-10-10 Revised:2020-03-10 Online:2020-09-05 Published:2020-10-19

摘要: 为实现微型机器人无缆驱动,设计一种基于磁弹性复合材料的磁控微型软体爬行机器人,通过三维亥姆霍兹线圈构建变换空间磁场,控制磁性材料产生磁力矩,并耦合机器人重力、摩擦力及自身的弹性变形,使得机器人实现多个连续的姿态变换,完成爬行动作。介绍微型软体爬行机器人结构和制作流程,建立机器人准静态力平衡方程,利用Abaqus有限元仿真和试验对比分析了机器人弯曲变形、接触面摩擦、爬行步长、转向等运动特性,在此基础上建立机器人爬行动作的速度模型,研究控制信号频率与幅值对机器人爬行速度的影响,并最终实现爬行机器人的路径规划控制。试验和仿真结果表明,该机器人能实现在xy平面内任意方向的爬行动作,为进一步揭示磁控微型机器人的运动特性及规律奠定了基础。

关键词: 无缆驱动, 微型软体机器人, 磁弹性复合材料, 爬行, 磁场控制

Abstract: In order to realize the cable-less driven for the micro-robot, a magnetic control micro-soft crawling robot based on magnetic elastic composite material is designed. Variable spatial magnetic fields are set up to generate variable magnetic moment on magnetic material through 3D Helmholtz coils. Coupled with the magnetic moment, gravity, friction and elastic deformation of the robot, the crawling motion is achieved by multiple continuous postures. The structure and production process of Micro-soft crawling robot is introduced, and the quasi-static force balance equation is established. Comparing Abaqus finite element simulation and experimental results, the motion characteristics of the robot are analyzed, such as bending deformation, contact surface friction, crawling step length and steering. The speed model of robot crawling action is established, and the influence of the frequency and amplitude of control signal is analyzed. The path planning control of the crawling robot is carried out. The experimental and simulation results show that the robot can realize the crawling motion in any direction in the xy plane, and this work may lay a foundation for further study of the motion characteristics and laws of the magnetic control micro-robot.

Key words: cable-less driven, micro-soft robot, magnetic elastic composite, crawling, magnetic control

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