The invention discloses a preparation method of a programmable soft robot. The preparation method comprises the following steps: mixing magnetic particles, Ecoflex, PDMS and a curing agent according to a certain mass ratio, and stirring to obtain a magnetic response soft material; preparing a male mold and a female mold, assembling to form a preparation mold, and curing the magnetic response soft material in the preparation mold to obtain the soft robot; the solidified magnetic response material is magnetized and heated at the same time, and the programmable soft-bodied robot is obtained; and after cooling to the room temperature, opening the preparation mold, and taking out the programmable soft robot. The invention further discloses the programmable soft-bodied robot and a preparation mold of the programmable soft-bodied robot. The process is simple, the manufacturing cost is low, a programmable three-dimensional magnetic domain distribution structure is rapidly achieved through an in-situ heat-assisted magnetizing method, magnetic domain distribution is accurately controlled, the programmable soft robot has the multi-mode movement capacity and can execute transportation tasks in the liquid environment, and directional operation and accurate control are achieved.
本发明公开了一种可编程软体机器人的制备方法,包括以下步骤:将磁性颗粒、Ecoflex、PDMS和固化剂按照一定的质量比混合,搅拌得到磁响应软材料;制备公模、母模,组装形成制备模具,将磁响应软材料在制备模具内进行固化得到软体机器人;对固化后的磁响应材料进行磁化的同时进行加热,得到可编程软体机器人;待冷却至室温,打开制备模具,将可编程软体机器人取出。本发明还公开了一种可编程软体机器人及其制备模具。本发明工艺简单,制造成本低,通过原位热辅助的充磁方法快速实现可编程的三维磁畴分布结构,精确控制磁畴分布,使得可编程软体机器人具备多模态运动能力及能够在液体环境下执行运输任务,实现定向操作和精确控制。
Programmable soft robot as well as preparation method and preparation mold thereof
可编程软体机器人及其制备方法和制备模具
2025-04-25
Patent
Electronic Resource
Chinese
IPC: | B29C Formen oder Verbinden von Kunststoffen , SHAPING OR JOINING OF PLASTICS / C08L COMPOSITIONS OF MACROMOLECULAR COMPOUNDS , Massen auf Basis makromolekularer Verbindungen / B33Y ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING , Additive (generative) Fertigung, d. h. die Herstellung von dreidimensionalen [3D] Bauteilen durch additive Abscheidung, additive Agglomeration oder additive Schichtung, z. B. durch 3D- Drucken, Stereolithografie oder selektives Lasersintern / C08K Verwendung von anorganischen oder nichtmakromolekularen organischen Stoffen als Zusatzstoffe , USE OF INORGANIC OR NON-MACROMOLECULAR ORGANIC SUBSTANCES AS COMPOUNDING INGREDIENTS / B62D MOTOR VEHICLES , Motorfahrzeuge |
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