Design And Magneto Thermal Actuation Mechanism Of An Unbounded SMA Soft Robot Simulating Fruit Fly Larvae

With its soft body structure and infinite freedom,the software robot presents amazing body intelligence and high environmental adaptability.Unlike traditional robots made of rigid materials,soft robots are made of flexible multiple degrees of freedom materials,with multi-degrees of freedom continuous deformation capability,in exploration and rescue,military reconnaissance,pipeline detection,minimally invasive surgery and other fields,especially in the construction of complex,narrow and lengthy non-structural environment has a wide range of application prospects and unparalleled advantages.Bionic peristaltic software robot research is developing rapidly in the initial stage,in the material,design,preparation,control and other fields have new applications,but also face many difficulties and challenges,for the current software robot has a slow motor response,insufficient load capacity,motion position difficult to accurately control the problem,to the natural real fly larvae as bionic objects,based on temperature and magnetic field dual response control of the unbound rigidly coupled SMA bionic software robot design research.The specific research content is as follows:(1)The evolution mechanism of shape memory effect of SMA skeleton structure and the regulation law of magnetic thermal deformation responseThe effect of electromagnetic induction heating is clarified.The behavioral relationship of SMA shape memory effect is explored,the magnetic thermal response deformation law of SMA skeleton structure is excavated,and the model of magnetic induction heating temperature rise of SMA skeleton structure is established.It is found that the cross-sectional area of SMA skeleton structure has a significant effect on the magnetic induction heating temperature rise process,and the angle of SMA skeleton heating deformation is 41 to 9 degrees(41 to 30 degrees at the initial stage of heating,30 degrees to 9 degrees in the later stage of heating,and 9 degrees in the early stage of cooling recovery)under the action of the alternating magnetic field The change law of SMA skeleton structure deformation behavior with low temperature bending and high temperature straightening is obtained,and the bending range is 41 degrees to 8 degrees,which provides the basis for the design and magnetic thermal response of the rigidly coupled SMA bionic software robot structure.(2)Pled SMA software robot design and sample mechanismAn unbound imitation fly larvae just soft-coupled SMA software robot with ontology bionics-SMA skeleton structure combined with external software skin structure integration was developed,and the effect of different silicone substrates on the deformation performance of magnetic software skin materials was proved,and experiments showed that the 30 model silicone substrates Strain is higher than type 50 silicone substrate under the same stress,and finally complete the controlled SMA bionic software robot-like mechanism based on magnetic heat dual drive,realize the prototype bionic creeping and elastic jumping motion behavior,and provide new perspective and theoretical support for the design and actuation research of the new bionic software robot.(3)SMA bionic software robot magnetic thermal deformation response regulation lawThe test platform was set up to investigate the action of the alternation magnetic field SMA bionic software robot magnetic thermal deformation response regulation law,obtained the relationship between temperature change and SMA bionic software robot position state,the experiment shows that SMA bionic software robot prototype limit bending angle in the range of 38°10degrees.At the alternating current 7.6A frequency425 k Hz,the prototype magnetic thermal bending angle range is 34° to 12°,the temperature varies between 37 degrees C and 22 degrees C,and the prototype magnetic thermal deformation period is 30 s,where the limit variable is reached at 10 s and the initial state is restored to 34°at 12 to 30 s,resulting in the interaction between the magnetically induced heating current,angle changes,surface temperature distribution and overall motion and deformation of the software robot.(4)Study on kinematics and dynamics of SMA bionic soft robot driven by magnetocaloric forceBased on the force analysis,zero velocity point analysis,strain analysis and friction gastropod angle analysis of SMA bionic soft robot prototype with different friction gastropod angles,the relationship among friction coefficient,zero velocity point offset and motion step length of fore and aft feet is established;This paper studies the creeping law of SMA bionic soft robot under the action of alternating magnetic field,and explores the step change of SMA bionic soft robot under the control of different magnetic induction alternating current ° The speed of the friction gastropod prototype is the fastest,which is consistent with the theoretical value,and the maximum can reach9.00 mm / min;The climbing performance of SMA soft robot prototype is tested under different environment conditions,and the results show that the fastest speed of the prototype is 6.00 mm / min and the climbing speed is 10 ° The relationship between the movement speed and the angle of friction foot was constructed;According to the working state of the load in the practical application,an experimental platform is built to study the motion behavior changes of the prototype under different load states,and the load motion behavior change rules of the prototype with different friction gastropod angles are obtained,that is,under the condition of three times load,the maximum speed can be 4.57mm/min,and the minimum speed loss is 17%.