仿鳐鱼微型软体机器人实现磁驱动，可高效窄空间游动。
Preparation and Motion Study of Magnetically Driven Micro Soft Robot Mimicking the Cownose Ray
- 仿鳐鱼结构，用钕铁硼与PDMS制成磁响应材料。
- 在5mT、11Hz磁场下达5.25mm/s最高速度，约0.5体长/秒。
- 可通过电流方向和频率控制转向，适合微创医疗应用。
在环境监测和微创医疗等狭窄非结构化水下环境中，微小柔性软体机器人因其灵活运动能力和微型尺寸展现出独特优势。结合仿生设计可显著提升其游泳性能。然而，受限于微型化，此类机器人难以内部供能，通常采用无线供电方式。本研究基于鳐鱼游泳原理，设计并制备了一种磁响应型仿鳐鱼微型软体机器人，材料为特定比例的NdFeB与PDMS。利用三维亥姆霍兹线圈生成振荡谐波磁场，开展机器人游泳实验，探究磁场参数对其游泳性能的影响。实验结果表明，在磁场强度B=5 mT、频率f=11 Hz时，机器人达到最快游泳速度5.25 mm/s，约为0.5体长/秒。此外，通过调节线圈电流方向与频率，机器人可实现直线游动、转向游动及定向游动等多种模式。采用分步调整方法，有效降低了响应误差对轨迹的影响。本研究展示了一种磁驱动微型软体机器人的实现方法，为无线驱动机器人在水下狭小空间的应用奠定了基础。
原文摘要 · Abstract (English)
In narrow, unstructured underwater environments such as environmental monitoring and minimally invasive medical procedures, micro soft robots exhibit unique advantages due to their flexible movement capabilities and small size. At the same time, applying bionic technology to the structural design of micro soft robots can significantly improve their swimming performance. However, limited by their miniaturization, these robots are difficult to power internally and usually adopt a wireless power supply method. This study designs and fabricates a magnetically responsive, cownose ray-inspired micro soft robot based on the swimming principle of the cownose ray. The robot is made of a certain proportion of NdFeB and PDMS. Then, a three-dimensional Helmholtz coil is used to generate an oscillating harmonic magnetic field to conduct swimming experiments on the robot, exploring the influence of magnetic field parameters on the robot's swimming performance. The experimental results show that the swimming speed is the fastest at B = 5 mT and f = 11 Hz, reaching 5.25 mm/s, which is about 0.5 body lengths per second. In addition, by adjusting the current direction and frequency of the coil, the robot can perform different swimming modes such as straight swimming, turning swimming, and directional swimming. By employing a stepwise adjustment method, the impact of response errors on the robot's trajectory can be effectively reduced. This study demonstrates a method for magnetically driven micro soft robots, laying a foundation for the application of wireless-driven robots in underwater narrow spaces.
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