Motion Analysis and Experiment of Multiple Magnetic Small-Scale Soft Robots

IF 0.7 Q4 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Journal of Advanced Computational Intelligence and Intelligent Informatics Pub Date : 2023-05-20 DOI:10.20965/jaciii.2023.p0340

Pan Zhang, Wenjie Qin, Haoyun Ma, Jundong Wu, Yangwu Wang

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Abstract

Since magnetic field is penetrating and harmless to human body, magnetic soft robots driven by magnetic field have great potential in medical fields. Thus, magnetic soft robots have attracted wide attention. However, the current researches mainly focus on the design of a single magnetic soft robot. Multiple magnetic soft robots also deserve to be studied due to their applications in collaborative operation. This paper presents a new design and fabrication method of multiple magnetic small-scale soft robots with different magnetic strength, size, and length-width ratio. The robots can be controlled to move in different motion modes and motion states under identical magnetic field. By analyzing their magnetic response property, which is the switching conditions between the two motion modes, and analyzing their states of the walking motion, two robots are selected from a batch of fabricated robots to carry out experiment. The results show that the two robots can move in different motion modes in the identical magnetic field.

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多磁性小型软机器人运动分析与实验

由于磁场具有穿透性，对人体无害，因此磁场驱动的磁性软机器人在医学领域具有很大的应用潜力。因此，磁性软机器人引起了广泛的关注。然而，目前的研究主要集中在单磁软机器人的设计上。多磁体软机器人在协同作业中的应用也值得研究。提出了一种具有不同磁性强度、尺寸和长宽比的多磁体小型软机器人的设计与制造新方法。在相同的磁场下，可以控制机器人在不同的运动模式和运动状态下运动。通过分析它们的磁响应特性，即两种运动模式之间切换的条件，并分析它们的行走运动状态，从一批已制成的机器人中选择两个机器人进行实验。结果表明，在相同的磁场下，两个机器人可以以不同的运动方式运动。

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来源期刊

Journal of Advanced Computational Intelligence and Intelligent Informatics COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE-

CiteScore

1.50

自引率

14.30%

发文量

期刊介绍： JACIII focuses on advanced computational intelligence and intelligent informatics. The topics include, but are not limited to; Fuzzy logic, Fuzzy control, Neural Networks, GA and Evolutionary Computation, Hybrid Systems, Adaptation and Learning Systems, Distributed Intelligent Systems, Network systems, Multi-media, Human interface, Biologically inspired evolutionary systems, Artificial life, Chaos, Complex systems, Fractals, Robotics, Medical applications, Pattern recognition, Virtual reality, Wavelet analysis, Scientific applications, Industrial applications, and Artistic applications.