通过模拟与实验验证，研究磁致变形材料的刚度梯度对弯曲性能的影响。
Exploring Stiffness Gradient Effects in Magnetically Induced Metamorphic Materials via Continuum Simulation and Validation
- 设计梯度刚度磁致变形材料，提升弯曲平滑性。
- 四类实验验证模型准确，预测误差小。
- 适合机器人、生物医学领域研究者参考。
磁软连续体机器人可在狭小空间内远程控制弯曲，已应用于多种生物工程场景。作为一类铁磁性软连续体，基于磁致变形材料（MIMMs）的连续体（MC）表现出类似弯曲行为。其基材具备可调单元刚度和易成型制造的优点。然而，现有研究多集中于一两个设计参数，限制了综合磁连续体弯曲模型的发展。本文构建了梯度刚度MC（GMC），开发了包含四个关键参数的数值模型，并通过四类实验（磁场变化、截面差异、单元刚度、单元长度）验证了模拟结果。梯度刚度设计有效避免固定端急弯，实现更接近圆弧的曲率。此外，训练出高效高精度的扩展模型，建立了大规模的GMC弯曲预测数据库。
原文摘要 · Abstract (English)
Magnetic soft continuum robots are capable of bending with remote control in confined space environments, and they have been applied in various bioengineering contexts. As one type of ferromagnetic soft continuums, the Magnetically Induced Metamorphic Materials (MIMMs)-based continuum (MC) exhibits similar bending behaviors. Based on the characteristics of its base material, MC is flexible in modifying unit stiffness and convenient in molding fabrication. However, recent studies on magnetic continuum robots have primarily focused on one or two design parameters, limiting the development of a comprehensive magnetic continuum bending model. In this work, we constructed graded-stiffness MCs (GMCs) and developed a numerical model for GMCs' bending performance, incorporating four key parameters that determine their performance. The simulated bending results were validated with real bending experiments in four different categories: varying magnetic field, cross-section, unit stiffness, and unit length. The graded-stiffness design strategy applied to GMCs prevents sharp bending at the fixed end and results in a more circular curvature. We also trained an expansion model for GMCs' bending performance that is highly efficient and accurate compared to the simulation process. An extensive library of bending prediction for GMCs was built using the trained model.
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