The invention discloses a self-stabilizing magnetically-driven miniature soft robot which comprises an I-type structure and an II-type structure, the I-type robot comprises a head located on the same plane and four magnetic legs and feet evenly distributed on the periphery of the head, and the I-type robot and the four magnetic legs and feet are connected into a whole through flexible joints and films; the II-type robot comprises a head and flexible joints which are evenly distributed on the periphery of the head, form a certain angle with the plane where the head is located and are connected into a whole through the flexible joints. The magnetic legs and feet have specific magnetization directions, so that the miniature soft robot can be deformed into a clock shape under the action of an external magnetic field; the self-stabilizing magnetically-driven miniature soft robot is simple in structure and easy and convenient to manufacture; self-centering rotation and swimming movement can be achieved under driving of a transformed magnetic field, external interference can be resisted, good self-stability is achieved, and work can be ideally completed in a narrow space; and the soft material has good biocompatibility, and has a great application prospect in a living body.
本发明公开了一种自稳定磁驱动微型软体机器人,包括I型、II型两种构型,I型机器人包括位于同一平面上的头部和四条均布在头部四周的磁性腿足,并通过柔性关节和薄膜连结为一体;II型机器人包括头部和均布于头部四周并与头部所在平面成一定角度,并通过柔性关节连结为一体;磁性腿足均具有特定磁化方向,可使微型软体机器人在外部磁场作用下变形为“钟”形;该类自稳定磁驱动微型软体机器人结构简单,制作简易便捷;能在变换磁场驱动下实现自定心旋转和游泳运动,能够抵抗外来干扰,具有良好的自稳定性,在狭窄空间内能够理想地完成工作;且软体材料具有良好的生物相容性,在生物体内具有重大应用前景。
Self-stabilizing magnetically-driven miniature soft robot and preparation and driving method thereof
一种自稳定磁驱动微型软体机器人及其制备与驱动方法
07.06.2024
Patent
Elektronische Ressource
Chinesisch
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