Simulation and Experiment of Dual-mode Motion Characteristics of a Magnetically Controlled Miniature Soft Quadruped Underwater Robot

doi:10.3901/JME.2023.11.179

Abstract

Abstract: Due to its small size and light weight, cableless magnetically controlled miniature robots have broad application prospects in the fields of biomedicine and micromanipulation. A cross-fork shaped magnetically controlled miniature soft quadruped robot is designed, and underwater movement is achieved by using either jellyfish mode or propeller mode. Firstly, the dynamic analysis of the jellyfish mode and the propeller mode of the magnetic quadruped robot is carried out respectively. Through simulations and experiments, both modes are compared and analysed for static characteristics and dynamic characteristics, including the relationship between the magnetic field strength and bending characteristics, the relationship between the flapping amplitude, frequency and the velocity in jellyfish mode, the relationship between step size and the cone angle, and between the frequency and the velocity in propeller mode, etc. In both modes, control signals are designed to achieve vertical upward movement, hovering, horizontal movement, and other underwater actions, and simple path tracking tests are realized. The simulation and experiment of the magnetically controlled miniature quadruped underwater robot provide a new idea for its application.

Key words: magnetically controlled miniature soft robot, quadruped underwater robot, jellyfish mode, propeller mode

CLC Number:

TP242

XIANG Hongbiao, CHEN Zhuo, LIU Jiying, SONG Yang, ZHANG Mian, WANG Shoujun. Simulation and Experiment of Dual-mode Motion Characteristics of a Magnetically Controlled Miniature Soft Quadruped Underwater Robot[J]. Journal of Mechanical Engineering, 2023, 59(11): 179-188.

References

[1] DILLER E，SITTI M. Three-dimensional programmable assembly by untethered magnetic robotic micro-grippers[J]. Adv. Funct. Mater.，2014，4:4397-4404.
[2] 张忠强，邹娇，丁建宁，等. 软体机器人驱动研究现状[J]. 机器人，2018，40(5):648-659. ZHANG Zhongqiang，ZOU Jiao，DING Jianning，et al. Research status of the soft robot driving[J]. Robot，2018，40(5):648-659.
[3] KHARBOUTLY M，UTHIER M，CHAILLET N. Modeling the trajectory of a micro particle in a dielectrophoresis device[J]. Journal of Applied Physics，2009，106(11):1-6.
[4] 牛丽周，丁亮，高海波，等. 软体足式机器人驱动、建模与仿真研究综述[J]. 机械工程学报，2021，57(19):1-20. NIU Lizhou，DING Liang，GAO Haibo，et al. Review of actuation，modeling and simulation in soft-legged robot[J]. Journal of Mechanical Engineering，2021，57(19):1-20.
[5] HU W Q，ISHII K S，OHTA A T. Micro-assembly using optically controlled bubble microrobots[J]. Applied Physics Letters，2011，99(9):094103.
[6] MARTEL S，FELFOUL O，MATHIEU J B，et al. MRI-based medical nanorobotic platform for the control of magnetic nanoparticles and flagellated bacteria for target interventions in human capillaries[J]. International Journal of Robotics Research，2009，28(9):1169-1182.
[7] NELSON B J，KALIAKATSOS I K，ABBOTT J J. Microrobots for minimally invasive medicine[J]. Annual Review of Biomedical Engineering，2010，12:55-85.
[8] KUMAR N，VERMA V，BEHERA L. Magnetic navigation and tracking of multiple ferromagnetic microrobots inside an arterial phantom setup for MRI guided drug therapy[J]. Biocybernetics and Biomedical Engineering，2017，37(3):347-356.
[9] HU W Q，ZHAN L G，MASSIMO M，et al. Small-scale soft-bodied robot with multimodal locomotion[J]. Nature，2018，554:81-85.
[10] ZHANG Y，YANG D，YAN P，et al. Inchworm inspired multimodal soft robots with crawling，climbing，and transitioning locomotion[J]. IEEE Transactions on Robotics，2022，38:1806-1819.
[11] 向红标，程旭，李梦伟，等. 磁弹性微型游泳机器人在外部干扰和复杂路径下的精确跟踪控制[J]. 机械工程学报，2022，58(7):93-102. XIANG Hongbiao，CHENG Xu，LI Mengwei，et al. Accurate tracking control of magnetoelastic elastic miniature swimmer under external disturbance and complex path[J]. Journal of Mechanical Engineering，2022，58(7):93-102.
[12] XIANG H，LI M，ZHANG T，et al. Motion characteristics of untethered swimmer with magnetoelastic material[J]. Smart Materials and Structures，2021，30(7):075030.
[13] AHMED F，WAQAS M，SHAIKH B，et al. Multi-material bio-inspired soft octopus robot for underwater synchronous swimming[J]. Journal of Bionic Engineering，2022，19(5):1229-1241.
[14] WU Q，YANG X，WY Y，et al. A novel underwater bipedal walking soft robot bio-inspired by the coconut octopus[J]. Bioinspiration & Biomimetics，2021，16(4):046007.
[15] SU M，XU T，LAI Z，et al. Double-modal locomotion and application of soft cruciform thin-film microrobot[J]. IEEE Robotics and Automation Letters，2020，5(2):806-812.
[16] HU W Q， ZHAN L G， MASSIMO M， et al. Small-scale soft-bodied robot with multimodal locomotion[J]. Nature，2018， 554(7690):81-85.
[17] REN Z，WANG T L，HU W Q，et al. A magnetically-actuated untethered jellyfish-Inspired soft milliswimmer[C]// Robotics:Science and Systems XV. June-26，2019，Freiburg im Breisgau，Germany，2019:97-104.
[18] XIANG H， TRKOV M， YU K. A stick-slip interactions model of soft-solid frictional contacts[J]. Journal of Dynamic Systems， Measurement， and Control，2019， 141(4):041015.
[19] LI Y S，SUN H X，CHU M，et al. Experiment，simulation and analysis on coupling hydrodynamic forces under key parameters for a spherical underwater exploration robot[J]. Journal of Vibroengineering，2014，16(6):3014-3025.