| The traditional robot is made of hard materials,which can meet the strong working environment.However,once the environment changes or the working environment is more complex,the traditional robot can not complete the work efficiently and accurately.The soft robot is made of soft material,which can be deformed according to the change of environment in complex and unknown environment,so as to improve the environmental adaptability,and has great application potential in reconnaissance,medical treatment,rescue and so on.In this paper,the drive system of soft robot is studied,and the worm like soft robot is designed and manufacturedReferring to the bionics principle,the paper analyzes and compares the motion forms of different mollusks,establishes the motion forms and bionic objects of the soft robot,analyzes and studies its motion mechanism,designs the structure of the driving unit according to the characteristics of magnetic fluid magnetism,fluidity and coil magnetic field,and analyzes the movement gait of the worm like soft robot based on the creep principle.The main material of magnetic motion unit is selected,the material performance test bench is built,and the mechanical properties of the material are analyzed.The intelligent fluid is prepared by orthogonal experiment,and its performance parameters are obtained.On the basis of electromagnetic theory,the driving magnetic field of the soft robot is simulated and simulated by COMSOL software.The magnetic field in the coil space is obtained and analyzed.At the same time,the magnetic field force of the smallest part of the soft robot is simulated and analyzed.According to the three-dimensional model,the worm like soft robot is made,and the image acquisition system is established.The motion experiment of the soft robot prototype is carried out,which provides reference for the optimization and improvement of the software robot prototype in the future...Figure 46;Table 14;Reference 48... |
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