Journal of Bionic Engineering ›› 2023, Vol. 20 ›› Issue (2): 506-514.doi: 10.1007/s42235-022-00296-9

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A Programmable Inchworm-Inspired Soft Robot Powered by a Rotating Magnetic Field

Honglin Shen1; Shuxiang Cai1; Zhen Wang1; Zheng Yuan1; Haibo Yu2; Wenguang Yang1   

  1. 1 School of Electromechanical and Automotive Engineering, Yantai University, Yantai 264005, China  2 State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
  • 出版日期:2023-03-10 发布日期:2023-03-10
  • 通讯作者: Haibo Yu; Wenguang Yang E-mail:yuhaibo@sia.cn, ytu_yangwg@163.com
  • 作者简介:Honglin Shen1; Shuxiang Cai1; Zhen Wang1; Zheng Yuan1; Haibo Yu2; Wenguang Yang1

A Programmable Inchworm-Inspired Soft Robot Powered by a Rotating Magnetic Field

Honglin Shen1; Shuxiang Cai1; Zhen Wang1; Zheng Yuan1; Haibo Yu2; Wenguang Yang1   

  1. 1 School of Electromechanical and Automotive Engineering, Yantai University, Yantai 264005, China  2 State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
  • Online:2023-03-10 Published:2023-03-10
  • Contact: Haibo Yu; Wenguang Yang E-mail:yuhaibo@sia.cn, ytu_yangwg@163.com
  • About author:Honglin Shen1; Shuxiang Cai1; Zhen Wang1; Zheng Yuan1; Haibo Yu2; Wenguang Yang1

摘要: With the growing demand for miniaturized workspaces, the demand for microrobots has been increasing in robotics research. Compared to traditional rigid robots, soft robots have better robustness and safety. With a flexible structure, soft robots can undergo large deformations and achieve a variety of motion states. Researchers are working to design and fabricate flexible robots based on biomimetic principles, using magnetic fields for cable-free actuation. In this study, we propose an inchworm-shaped soft robot driven by a magnetic field. First, a robot is designed and fabricated and force analysis is performed. Then, factors affecting the soft robot’s motion speed are examined, including the spacing between the magnets and the strength and frequency of the magnetic field. On this basis, the motion characteristics of the robot in different shapes are explored, and its motion modes such as climbing are experimentally investigated. The results show that the motion of the robot can be controlled in a two-dimensional plane, and its movement speed can be controlled by adjusting the strength of the magnetic field and other factors. Our proposed soft robot is expected to find extensive applications in various fields.

关键词: Soft robot , · Bio-inspired soft robot , · Magnetic actuation

Abstract: With the growing demand for miniaturized workspaces, the demand for microrobots has been increasing in robotics research. Compared to traditional rigid robots, soft robots have better robustness and safety. With a flexible structure, soft robots can undergo large deformations and achieve a variety of motion states. Researchers are working to design and fabricate flexible robots based on biomimetic principles, using magnetic fields for cable-free actuation. In this study, we propose an inchworm-shaped soft robot driven by a magnetic field. First, a robot is designed and fabricated and force analysis is performed. Then, factors affecting the soft robot’s motion speed are examined, including the spacing between the magnets and the strength and frequency of the magnetic field. On this basis, the motion characteristics of the robot in different shapes are explored, and its motion modes such as climbing are experimentally investigated. The results show that the motion of the robot can be controlled in a two-dimensional plane, and its movement speed can be controlled by adjusting the strength of the magnetic field and other factors. Our proposed soft robot is expected to find extensive applications in various fields.

Key words: Soft robot , · Bio-inspired soft robot , · Magnetic actuation