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.

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http://www.cjmenet.com.cn/EN/Y2023/V59/I11/179

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