Research On Manufacturing Process And Response Behavior Of Magnetic Composites For Soft Robots

The magnetically controlled soft robots can be controlled by changing magnetic fields to produce deformation and movement,enabling wireless manipulation and have great promise in the biomedical field.Currently,the field of magnetic controlled soft robotics is mainly based on the structural design,manufacturing process and actuation control of magnetic composites.Traditional design and manufacturing methods have challenges in terms of improving drive sensitivity,reducing manufacturing costs and shaping complex structures.Therefore,this paper focuses on the preparation of magnetic composites,magnetization process,structure fabrication and control method,with the aim of manufacturing and controlling soft robots at low cost.The main research and conclusions of this paper are as follows:(1)In the preparation of magnetic composites,to address the problem of degradation of deformability of flexible composites filled with high mass fraction magnetic powder,this paper proposes a process for the preparation of magnetic composites with high mass fraction magnetic powder based on epoxy resin substrate,realizing the fabrication of rigid magnetic units with 80% mass fraction magnetic powder,and obtaining a rigid-flexible composite magnetic structure with capability of controlled deformation through the integration of flexible materials and rigid magnetic units.(2)In the magnetization process,a thermal assisted magnetization process based on permanent magnets is proposed to address the complexities of magnetization equipment and the requirement for strong external magnetic fields.The study shows that the maximum magnetic induction strength of the magnetic composites surface is linearly related to the heating temperature,and that high temperature treated magnetic materials can achieve conventional high field strength magnetization by low field strength magnetization,thus avoiding reliance on expensive magnetization equipment such as pulse magnetizers.(3)In terms of structure fabrication,to address the fabrication challenges of complex structures,this paper proposes a process for the preparation of magnetically controlled structures based on UV-curing 3D printing,develops a magnetic composite light-curing resin to accompany the process,and realizes the fabrication of structures with large thickness and complex surface patterns with a magnetic powder mass fraction of 30%through the optimization of process parameters.In addition,a heterogeneous material hybrid fabrication process was proposed to achieve rigid-flexible composite microstructure fabrication.(4)In terms of control strategies,this paper investigates the method of controlling micro magnetic soft structures based on permanent magnets,proposes a strategy for permanent magnets to build a uniform magnetic field,and realizes the driving of multiple magnetic structures by designing the magnetic field distribution of permanent magnets.In addition,the simulation model of force-magnetic coupling is established to achieve the prediction of the deformation of magnetic soft structures.The research in this paper on the preparation of magnetic composites materials,the design,manufacturing process and the control of magnetically controlled soft body structures,provides ideas for realizing the manufacturing and control of soft body robots,and helps to promote the application of soft body robots in biological,health and medical fields.