CN109319008A - A kind of soft robot model based on amoeba worm locomotory mechanism - Google Patents
A kind of soft robot model based on amoeba worm locomotory mechanism Download PDFInfo
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- CN109319008A CN109319008A CN201811024389.8A CN201811024389A CN109319008A CN 109319008 A CN109319008 A CN 109319008A CN 201811024389 A CN201811024389 A CN 201811024389A CN 109319008 A CN109319008 A CN 109319008A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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Abstract
A kind of soft robot model based on amoeba worm locomotory mechanism, the scalable annular body unit including n based on magnetic fluid, n are natural number, and n >=4, annular body unit be equidistantly arranged in along axial direction it is two layers inside and outside, it is connected with elastic membrane between annular body unit；Each annular solid cell-average is divided into m ring segment, and m is natural number, and m >=4, and being often separated by a ring segment is to fill the ring segment of magnetic fluid, is elastic webbing between the ring segment of two filling magnetic fluids.A kind of soft robot model based on amoeba worm locomotory mechanism provided by the invention, utilizes the magnetization property of magnetic fluid, it is established that the soft robot model of full skin movements；The model is using whole skin flip-flop movement mode, and external environment contact surface is big, movement is steady；It is strong to execute member drives ability, is swift in response；It is controlled using external magnetic field, can adapt to complex environment work, be conducive to the development that work is applied in further soft robot research.
Description
Technical field
The present invention relates to robot fields, and in particular to a kind of soft robot mould based on amoeba worm locomotory mechanism
Type.
Background technique
Under some non-structure environments, limited by size and working space, such as pipe detection, medical-therapeutic treatment of human body inspection,
The small space that collapses search and rescue etc., since the occasion of application belongs to non-structure environment, and can encounter various obstacles, to robot
Move mode is put forward higher requirements, and is such as needed can enter narrow conduit and is checked, or can be disappeared harmlessly into human body
Change road to be checked, or can enter size and searched and rescued or transported diet etc. than itself smaller underground space.Therefore, machine
People can move in the random landform of complexity becomes most important, and this requires robots can better conform to environment,
As the variation of environment changes the state of itself.Conventional rigid machine people and its driving method have been unable to meet above-mentioned at present
Demand.
Monadic main movement mode is using flagellum, cilium and pseudopodium, and wherein pseudopodium is unicellular cytoplasm stream
It is formed during dynamic, may extend from body, a similar foot.During the motion, the cytoplasm of pseudopodium protrudes expolasm to cell
Pipe flow forward, so that entire skin all draws and travels forward.The locomotory mechanism of amoeba worm is similar to pseudopodium, is increasingly complex
Front end expansion and tail portion shrink combine whole skin overturning drive mode.The cytoplasm of amoeba worm is by gel expolasm
It is formed with liquid endoplasm.Endoplasm flow forward, expolasm pipe in the expolasm pipe that expolasm is formed serve as the skin of outer surface.When interior
When matter reaches front end, it may translate into gel expolasm to form pseudopodium front end in hyaline cap region.Pseudopodium front end is then
The extension of expolasm pipe, makes body travel forward.As amoeba travels forward, expolasm pipe becomes liquid endoplasm in rear end, or
Person is the cell liquid of cell, and repeats the above process.The net effect of this expolasm and endoplasm conversion process is exactly amoebic
It travels forward.
A kind of colloidal dispersion system that magnetic fluid is made of base load liquid and granular magnetic retention.Base load liquid divides
Dispersion media is commonly kerosene and machinery oil etc., and the solid magnetic particles as dispersed phase are usually ferromagnetic material, as iron, brill,
The magnetic oxide etc. of nickel and they.Ferrofluid has colloidal stability and component stability, and has good magnetization
Performance.At present using magnetic iron ore as the ferrofluid of solid phase particles, saturation magnetization reaches as high as about 34000A/m.Another
Feature is that ferrofluid does not have hysteresis generally, that is, remanent magnetism and coercivity is not present, because magnetic-particle itself is suspended in
In base load liquid, after external magnetic field is removed, warm-up movement makes them become random state eventually, this means that complete demagnetization.
Summary of the invention
The purpose of the present invention is to provide a kind of soft robot models based on amoeba worm locomotory mechanism, are subsequent soft
The research of body robot establish model basis, by overcome the shortcomings of it is existing it is robotically-driven in a manner of.
For achieving the above object, technical scheme is as follows:
A kind of soft robot model based on amoeba worm locomotory mechanism, including the n scalable rings based on magnetic fluid
Body unit, n are natural number, and n >=4, annular body unit be equidistantly arranged in along axial direction it is two layers inside and outside, between annular body unit
It is connected with elastic membrane；Each annular solid cell-average is divided into m ring segment, and m is natural number, and m >=4, and being often separated by a ring segment is
The ring segment of magnetic fluid is filled, is elastic webbing between the ring segment of two filling magnetic fluids.
Preferably, the n=12, the m=6.
Preferably, the elastic membrane is rubber film.
Preferably, the elastic webbing is elastic rubber shell.
Preferably, with annular folding line on the elastic rubber shell.
Preferably, there is venthole on the elastic rubber shell.
Compared with prior art, beneficial effects of the present invention: provided by the invention a kind of based on amoeba worm locomotory mechanism
Soft robot model, imitate amoeba worm whole skin flip-flop movement mode, according to magnetic fluid magnetization property, it is established that
The soft robot model of full skin movements；The model not only conforms with the compliant physical feature of soft robot, and using whole
Body skin flip-flop movement mode, i.e., with external environment contact surface is big, movement is steady；It executes component and fills magnetic fluid, driving capability
By force, it is swift in response；It is controlled using external magnetic field, can adapt to complex environment work, be conducive to further soft robot and grind
Study carefully the development using work；The model structure is simple, light-weight, easily-deformable, is hardly damaged, not by the limit of traditional mechanical structure
System；The model has very big elasticity, can by changing the ring segment number on annular solid element diameter and number and its annular body unit
To be moved in various complex environments.
Detailed description of the invention
Fig. 1 is the axial symmetry section of the soft robot model of the anti-amoeba worm movement of one of embodiment of the present invention
Figure；
Fig. 2 is the left view and main view of the soft robot model of the anti-amoeba worm movement of one of embodiment of the present invention
Figure；
Fig. 3 is the structural schematic diagram of the annular body unit in the embodiment of the present invention；
Description of symbols: 1, magnetic fluid ring segment, 2, elastic rubber shell, 3, outer annular body unit, 3 ', internal layer annular solid list
Member, 4, rubber film, 5, venthole.
Specific embodiment:
The present invention is described further with reference to the accompanying drawings.
Embodiment
As illustrated in fig. 1 and 2, a kind of soft robot based on amoeba worm locomotory mechanism designs a model, by 12 bases
It is constituted in the scalable annular body unit (3,3 ') of magnetic fluid.12 annular body units (3,3 ') are equidistantly arranged in along axial direction
Inside and outside two layers, it is connected between annular body unit 3 with rubber film 4, forms the soft robot model of similar hollow cylinder.Ring
Body unit (3,3 ') has expanded condition and squeezed state two states, wherein the annular body unit 3 of outer layer is in expanded condition, interior
The annular body unit 3 ' of layer is in contracted state.
As shown in figure 3, each annular body unit (3,3 ') is divided into six ring segments, each ring segment occupies entire annular
60 ° of angles of body unit (3,3 ').It is to fill the ring segment 1 of magnetic fluid, the other three there are three ring segment in annular body unit (3,3 ')
Ring segment is compressible, distensible elastic rubber shell 2, and magnetic fluid ring segment 1 and elastic rubber shell 2 are arranged alternately.Elastic rubber shell 2
Upper to have annular folding line, elastic rubber shell 2 shrinks or expands along annular folding line, in addition, also having venthole on elastic rubber shell 2
5。
The movement of hollow circuit cylinder bodily form soft robot model controls the pressure of annular cell cube (3,3 ') by external magnetic field
The switching of contracting state and expanded condition is realized.Under the action of external magnetic field, the magnetic fluid ring segment 1 of annular body unit (3,3 ') be will receive
Expand outwardly or to contract power.With the expansion or contraction of magnetic fluid ring segment 1, elastic rubber shell 2 is also at two kinds accordingly
Expanded condition and contracted state two states.When three magnetic fluid ring segments 1 alternatively distributed on an internal layer annular solid unit 3 ' by
When to the power expanded outwardly, the expansion of magnetic fluid ring segment 1 and simultaneously tensile elasticity rubber jar 2 make elastic rubber shell 2 be in expansion shape
State, so that internal layer annular solid unit 3 ' be made to be expanded to outer layer；When three magnetic fluid ring segments 1 on an outer annular body unit 3
When by power to contract, three compressions of magnetic fluid ring segments 1 and elasticity of compression rubber jar 2 is at squeezed state simultaneously, from
And outer annular body unit 3 is made to be collapsible into internal layer.
By finite element method analysis, can be calculated under the effect of more magnetic field couplings magnetic fluid ring segment 1 and elastic rubber shell 2 by
The equilibrium problem of power.As shown in figure 3, soft robot is placed under the control of outer gradient magnetic field, two fields are respectively provided at A, B
Source, magnetic direction can be directed toward at B by A, can also be directed toward at A by B.It is the pole S at B assuming that being the pole N at A, is gradient magnetic at two
Field source and magnetic field strength is intensive, middle position magnetic field is weaker, can two side ring shape body of analysis model stress.Software machine
People's model A side edge, under Actions of Gradient Magnetic Field, the magnetic fluid ring segment 1 in internal layer annular solid unit 3 ' is expanded by expansionary force
Magnetic fluid ring segment 1 to outer layer, while in B side edge, outer annular body unit 3 is retracted to internal layer by convergent force.It is logical
It crosses calculating analysis and changes external magnetic field, i.e. field source at A, B, to control two side ring shape body unit (3,3 ') of soft robot model
The expansion and contraction of form, and then the alternate cycles of implementation model internal layer annular solid unit 3 ' and outer annular body unit 3, thus
It shrinks and expands respectively by the annular body unit (3,3 ') in the both ends A, B, realize the movement of soft robot.Lasting
Under the control of external magnetic field, soft robot model outer layer of the invention shows the flip-flop movement of circulation, effective and reasonable simulation
The whole skin of amoeba worm overturns driving mechanism.
Claims (6)
1. a kind of soft robot model based on amoeba worm locomotory mechanism, which is characterized in that including n based on magnetic fluid
Scalable annular body unit, n is natural number, and n >=4, annular body unit are equidistantly arranged in two layers inside and outside, annular solid along axial direction
It is connected between unit with elastic membrane；Each annular solid cell-average is divided into m ring segment, and m is natural number, and m >=4, is often separated by one
A ring segment is to fill the ring segment of magnetic fluid, is elastic webbing between the ring segment of two filling magnetic fluids.
2. a kind of soft robot model based on amoeba worm locomotory mechanism according to claim 1, which is characterized in that
The n=12, the m=6.
3. a kind of soft robot model based on amoeba worm locomotory mechanism according to claim 1, which is characterized in that
The elastic membrane is rubber film.
4. a kind of soft robot model based on amoeba worm locomotory mechanism according to claim 1, which is characterized in that
The elastic webbing is elastic rubber shell.
5. a kind of soft robot model based on amoeba worm locomotory mechanism according to claim 4, which is characterized in that
With annular folding line on the elastic rubber shell.
6. a kind of soft robot model based on amoeba worm locomotory mechanism according to claim 4, which is characterized in that
There is venthole on the elastic rubber shell.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811024389.8A CN109319008B (en) | 2018-09-04 | 2018-09-04 | Soft robot model based on amoeba movement mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811024389.8A CN109319008B (en) | 2018-09-04 | 2018-09-04 | Soft robot model based on amoeba movement mechanism |
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| CN109319008A true CN109319008A (en) | 2019-02-12 |
| CN109319008B CN109319008B (en) | 2020-07-28 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110394814A (en) * | 2019-08-29 | 2019-11-01 | 中南大学 | A kind of software walking robot |
| CN117814730A (en) * | 2024-01-08 | 2024-04-05 | 中国矿业大学 | Deformable soft magnetic control capsule robot based on rheological property and particle blocking principle |
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| CN102176152A (en) * | 2011-02-28 | 2011-09-07 | 中国科学院合肥物质科学研究院 | Bionic soft robot based on hydrostatic skeleton mechanism property |
| CN202295051U (en) * | 2011-11-10 | 2012-07-04 | 中国科学院合肥物质科学研究院 | Full-skin turning moving soft-bodied robot |
| CN103101583A (en) * | 2011-11-10 | 2013-05-15 | 中国科学院合肥物质科学研究院 | All-skin overturning movement flexible robot |
| FR2991654A1 (en) * | 2012-06-08 | 2013-12-13 | Pierre Yves Duchesne | MOTORIZED ALL-TERRAIN ROBOT HAS AT LEAST FOUR WHEELS |
| KR20140055446A (en) * | 2012-10-31 | 2014-05-09 | 재단법인대구경북과학기술원 | Control system for compliant legged robot |
| CN105500383A (en) * | 2016-02-23 | 2016-04-20 | 哈尔滨工业大学 | Soft robot module with multiple motion forms |
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2018
- 2018-09-04 CN CN201811024389.8A patent/CN109319008B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102176152A (en) * | 2011-02-28 | 2011-09-07 | 中国科学院合肥物质科学研究院 | Bionic soft robot based on hydrostatic skeleton mechanism property |
| CN202295051U (en) * | 2011-11-10 | 2012-07-04 | 中国科学院合肥物质科学研究院 | Full-skin turning moving soft-bodied robot |
| CN103101583A (en) * | 2011-11-10 | 2013-05-15 | 中国科学院合肥物质科学研究院 | All-skin overturning movement flexible robot |
| FR2991654A1 (en) * | 2012-06-08 | 2013-12-13 | Pierre Yves Duchesne | MOTORIZED ALL-TERRAIN ROBOT HAS AT LEAST FOUR WHEELS |
| KR20140055446A (en) * | 2012-10-31 | 2014-05-09 | 재단법인대구경북과학기술원 | Control system for compliant legged robot |
| CN105500383A (en) * | 2016-02-23 | 2016-04-20 | 哈尔滨工业大学 | Soft robot module with multiple motion forms |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110394814A (en) * | 2019-08-29 | 2019-11-01 | 中南大学 | A kind of software walking robot |
| CN117814730A (en) * | 2024-01-08 | 2024-04-05 | 中国矿业大学 | Deformable soft magnetic control capsule robot based on rheological property and particle blocking principle |
| CN117814730B (en) * | 2024-01-08 | 2024-05-31 | 中国矿业大学 | Deformable soft magnetic control capsule robot based on rheological property and particle blocking principle |
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| CN109319008B (en) | 2020-07-28 |
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