CN112965483B - Omnidirectional motion robot cooperatively driven by two fields and driving method thereof - Google Patents
Omnidirectional motion robot cooperatively driven by two fields and driving method thereof Download PDFInfo
- Publication number
- CN112965483B CN112965483B CN202110149476.1A CN202110149476A CN112965483B CN 112965483 B CN112965483 B CN 112965483B CN 202110149476 A CN202110149476 A CN 202110149476A CN 112965483 B CN112965483 B CN 112965483B
- Authority
- CN
- China
- Prior art keywords
- robot
- field
- double
- magnetic field
- layer
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
- G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
Abstract
The invention discloses a double-field cooperative driving omnidirectional moving robot and a driving method thereof, belonging to the technical field of flexible robots, wherein the omnidirectional moving robot is composed of a main structure with magnetic response and a secondary structure with optical response, and the main structure is a double-layer film with a plurality of foot structures on the edge; the main body structure can generate macroscopic deformation under the action of an external magnetic field, internal stress is directionally accumulated, and the walking direction of the robot is determined; the secondary structure is a plurality of double-layer drivers arranged on the foot structure; the secondary structure can be bent under the driving of an external light field, so that the stepping process is realized; under the cooperative driving of the external magnetic field and the optical field, the robot simultaneously realizes the processes of gravity center shift and advancing, so that the robot walks along the stress direction of the main body structure. The robot is driven by two energy fields simultaneously, and the control process combining macroscopic overall deformation and fine local deformation of the robot is realized.
Description
Technical Field
The invention belongs to the technical field of flexible robots, and particularly relates to a two-field cooperatively driven omnidirectional moving robot and a driving method thereof.
Background
A robot is a type of machine device that can automatically perform a preset work, and has various motion functions. Among them, the moving function widens the moving space of the robot, and is one of important functions required for the operation thereof. The moving mode of the robot comprises rolling, creeping, walking, jumping, swimming and the like, the moving mode of the walking can well meet the motion process of the surface with unknown appearance, and the requirement on the surface roughness is low. The walking process is realized by the cooperative motion of legs and feet, the walking mode is favorable for realizing obstacle crossing, the friction and collision between the robot and the surrounding environment in the motion process can be reduced, the walking robot is a mobile mode with strong universality and good robustness, and the walking robot has important research significance in the aspects of medical treatment, military affairs and life. At present, walking robots are generally based on simulation of real biological motion processes, and most of the research ideas of walking robots continue to the manufacturing method and control technology of macro-scale robots: in the aspect of structure, various functional components (including a supporting structure, a bending component, a rotating component and the like) are prepared one by one and then are subjected to subsequent integrated assembly; in the aspect of control, a signal transmission channel needs to be precisely designed, and the dynamic control of a plurality of kinematic joints and feet is realized by using preset control logic. However, such manufacturing and control logic face a number of problems in the design of micro robots.
Compared with the traditional macroscopic robot, the micro robot has the advantages that the characteristic size is greatly reduced (usually less than a few centimeters), the requirement on the machining process is higher, the technical requirement on the space alignment during the assembly of parts is also higher, and the effective transmission of control signals among all the parts can be ensured. In addition, the micro-robot realizes effective movement, and an actuating structure with small size and large rotation angle is necessary. These requirements greatly increase the difficulty of manufacturing the micro robot and reduce the yield. In order to simplify the control logic and solve the problem of small driving force, people directly introduce an 'asymmetric' structure in the manufacturing process, adjust and control the internal stress distribution of the robot in advance and reduce the minimum driving energy required during walking. However, the solution causes the controllability of the moving direction of the robot to be reduced and the active obstacle avoidance capability to be deteriorated, so that the effective exploration of the full-plane space is difficult to realize, the solution is more obvious and insufficient in the aspect of omnidirectional movement, and the solution is difficult to solve by using the prior art.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to: the robot controls the robot to move cooperatively through two external fields, an external magnetic field and an optical field respectively control the walking swing phase and the supporting phase of the robot, and when the two external fields cooperatively act on the robot, the walking process (namely, the omnidirectional motion) in any direction is realized. And (3) macroscopically controlling the stress distribution of the main body structure of the robot and adjusting and controlling the gravity center offset of the walking support phase of the robot by an external magnetic field. The external light field can realize accurate focusing in a three-dimensional space, and has excellent three-dimensional space positioning capacity, so that each secondary joint is independently controlled, and the free control of walking and swinging phases is achieved. The magnetic field has the characteristics of integral control and instant adjustable direction, and is the best choice for realizing macroscopic non-contact direction control; and the rapid driving of the appointed joint part of the robot is realized by combining the characteristic of accurate focusing of the three-dimensional space of the light field, and the elastic potential energy directionally accumulated when the robot is deformed by the magnetic field is released. When the two external fields act together, the control of the walking motion of the robot and the aim of omnidirectional walking are finally achieved.
The invention is realized by the following technical scheme:
a double-field cooperatively driven omnidirectional moving robot is composed of a main structure 1 with magnetic response and a secondary structure 2 with optical response, wherein the main structure 1 is a double-layer film with a plurality of foot structures at the edge, the upper layer of the double-layer film is made of magnetic response materials, and the lower layer of the double-layer film is made of flexible materials; the main body structure 1 can generate macroscopic deformation under the action of an external magnetic field, internal stress is directionally accumulated, and the walking direction of the robot is determined; the secondary structure 2 is a plurality of double-layer drivers arranged on the foot structure, the upper layer of each double-layer driver is made of a material with both optical response and magnetic response, and the lower layer of each double-layer driver is made of a flexible material; the secondary structure 2 can be bent under the drive of an external light field, so that the stepping process is realized; under the cooperative driving of the external magnetic field and the optical field, the robot simultaneously realizes the processes of gravity center shift and traveling, so that the robot walks along the stress direction of the main body structure 1.
Preferably, the magnetic response material used in the upper layer of the double-layer thin film structure of the main body structure 1 is a ferroferric oxide nanoparticle and graphene oxide composite material, and has superparamagnetism; the lower layer is made of flexible high molecular polymer material and has a larger photo-thermal expansion coefficient; the concentration of the ferroferric oxide solution is 1-50mg/mL, the concentration of the graphene oxide solution is 1-10mg/mL, and the volume ratio of the two materials is 1:20-1: 50; the composite material has superparamagnetic characteristic and lower photothermal conversionEfficiency, wherein the photo-thermal conversion is 30-60%; the composite material is directly attached to the high polymer material by spin coating and evaporation, the thickness range of the composite material film after the spin coating and evaporation is 1-5 mu m, the temperature range of the thermal stress is controlled to be 30-80 ℃ during the spin coating, and the curvature modulation range of the finally obtained composite material film is 0-100m-1。
Preferably, the upper layer of the secondary structure 2 is obtained by a laser modified ferroferric oxide nano particle and graphene oxide composite film, the adopted laser wavelength is 780nm, the power is 5W, the laser power is continuously adjustable from 0-100%, and the photothermal conversion efficiency of the upper layer material before and after modification can be maximally improved to 98.7% from 30-60%; meanwhile, the photothermal conversion rate is greatly improved and only needs 0.2 s; the lower layer of the secondary structure 2 is made of a flexible high-molecular polymer material, and the high-molecular polymer material is made of a polyvinyl chloride material and has a large photo-thermal expansion coefficient. The double-layer film of the secondary structure 2 can convert light energy into mechanical deformation under the irradiation of a light source: the upper layer structure converts light energy into heat energy and rapidly conducts the heat energy to the lower layer flexible high polymer material, and the difference of the thermal expansion coefficients of the two materials causes directional bending, so that the heat energy is converted into mechanical energy. The energy conversion efficiency of the secondary structure 2 before and after laser modification is greatly improved, and the light-mechanical energy conversion efficiency is improved from 0.003-0.005% to 0.38%.
The invention also aims to provide a driving method of the omnidirectional moving robot with the double-field cooperative driving, and particularly, the main structure generates macroscopic deformation under the action of an external magnetic field, and the internal stress of the main structure is directionally accumulated, so that the overall moving direction of the robot is determined; under the cooperative driving of the external magnetic field and the optical field, the robot simultaneously realizes the processes of gravity center shift and foot stepping, so that the secondary structure of the robot walks along the stress direction of the main structure.
Preferably, the external magnetic field is a magnetic field of 0-400mT with a uniform gradient in a certain direction, the external optical field being provided by an incandescent, sunlight or laser lamp, here preferably a semiconductor laser (wavelength 808nm, maximum power 200 mW).
Preferably, the omnidirectional moving robot can move directionally under the cooperative control of an external magnetic field and a light field, and the crawling direction is adjustable within 360 degrees in a plane. In the control process, the direction of the external magnetic field is modulated in real time, and the dynamic planning of the robot path can be realized. In addition, the magnetic field can also realize the change of the pitching angle of the robot, which is beneficial to the robot to realize the function of crossing obstacles.
Compared with the prior art, the invention has the following advantages:
(1) the robot is driven by utilizing the two energy fields simultaneously, and the control process combining macroscopic overall deformation and fine local deformation of the robot is realized;
(2) the properties of overall control and flexible and adjustable direction of the magnetic field and the property of accurate focusing of the optical field space are fully utilized. The control freedom of the robot is increased, and the problems of complicated multi-component precise integration and low manufacturing yield of the micro robot are solved.
(3) And the robot is operated and controlled by utilizing the double fields in a coordinated manner, so that the directional accumulation and release of the elastic potential energy in the flexible robot are realized, and the symmetry of macroscopic motion is broken.
(4) And the direction of the magnetic field is modulated in real time in the moving process of the robot, and the moving direction of the robot is adjusted in real time. And complex motion processes such as full-plane path planning, obstacle crossing and the like are realized.
Drawings
In order to more clearly illustrate the detailed description of the invention or the technical solutions in the prior art, the drawings that are needed in the detailed description of the invention or the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.
FIG. 1 is a schematic diagram of a dual-field cooperative driving omnidirectional moving robot according to the present invention; (a) the robot is in an initial free state; (b) a magnetic field regulation and control robot walking support phase schematic diagram; (c) a light field regulation and control robot walking swing phase schematic diagram; (d) a gait schematic diagram of the movement of the robot driven by the synergistic action of the magnetic field and the optical field;
FIG. 2 is a schematic diagram of a laser-modified driving joint double-layer structure according to the present invention;
fig. 3 is a schematic diagram of a crab robot, including a main structure 1 and a secondary structure 2, according to an embodiment of the two-field cooperative drive omnidirectional moving robot of the present invention;
FIG. 4 is a schematic diagram of the movement process and corresponding force analysis of the dual-field cooperative driving robot according to the present invention; wherein, a is a schematic diagram, and b is a corresponding stress analysis diagram;
FIG. 5 is a drive diagram of an omnidirectional movement crab robot of the invention; wherein, the (a) - (d) are two fields in sequence to cooperatively drive the robot to move leftwards, rightwards, forwards and backwards.
Fig. 6 is a diagram of the omnidirectional movement crab robot implementing path planning control, and the robot can plan a path on a full plane without turning;
fig. 7 is a diagram illustrating the operation of the omnidirectional moving robot for crossing obstacles.
Detailed Description
The following embodiments are only used for illustrating the technical solutions of the present invention more clearly, and therefore, the following embodiments are only used as examples, and the protection scope of the present invention is not limited thereby.
It is to be noted that, unless otherwise specified, technical or scientific terms used herein shall have the ordinary meaning as understood by those skilled in the art to which the invention pertains.
Example 1
A double-field cooperatively driven omnidirectional moving robot is shown in fig. 1- (a), and is composed of a main structure 1 with magnetic response and a secondary structure 2 with optical response, wherein the main structure 1 is a double-layer film with a plurality of foot structures at the edge, the upper layer of the double-layer film is made of magnetic response materials, and the lower layer of the double-layer film is made of flexible materials; the main body structure 1 can generate macroscopic deformation under the action of an external magnetic field, and internal stress is directionally accumulated, so that the overall movement direction of the robot is determined, as shown in fig. 1- (b); the secondary structure 2 is a plurality of double-layer drivers arranged on the foot structure, the upper layer of each double-layer driver is made of a material with both optical response and magnetic response, and the lower layer of each double-layer driver is made of a flexible material; the secondary structure 2 is bent under the drive of an external light field, and the stepping process is realized, as shown in fig. 1- (c). Under the cooperative driving of the external magnetic field and the optical field, the robot simultaneously realizes the processes of gravity center shift and traveling, so that the robot walks along the stress direction of the main body structure 1, as shown in fig. 1- (d). The direction of the controlled magnetic field can be adjusted within 360 degrees in a plane, and the omnidirectional walking motion of the robot can be realized.
Example 2
The embodiment provides a two-field cooperative drive omnidirectional moving robot, which is prepared by the following steps:
the method comprises the following steps: preparing materials;
the preparation process of the upper layer magnetic response material of the main body structure 1 comprises the step of preparing the ferroferric oxide nano particles by a chemical coprecipitation method, wherein the ferroferric oxide nano particles have a superparamagnetic characteristic (the concentration is 50 mg/mL). Graphene oxide (10 mg/mL concentration) was prepared in batches by the Hummers method. The two materials are compounded and stirred, the compounding volume ratio is 1:50, and the composite material has the superparamagnetic characteristic and certain photo-thermal conversion capacity;
the composite material is directly attached to the high-molecular film through spin coating and evaporation, the thickness range of the composite material film subjected to spin coating and evaporation is 5 micrometers, and the flexible polymer can be a commercial film with the thickness of 5, 10 or 15 micrometers. Controlling the thermal stress of the interface of the double-layer film by regulating and controlling the environmental temperature to be 30 ℃ in the spin-coating evaporation process, releasing the thermal stress stored in the double-layer film structure after demolding treatment, wherein the film material has the thickness of 0-100m-1The curvature modulation range of (1).
Step two: laser in-situ integration;
the upper layer of the secondary structure 2 is a ferroferric oxide nano particle and reduced graphene oxide film, the ferroferric oxide nano particle and reduced graphene oxide film are obtained by modifying a composite film of the ferroferric oxide nano particle and the graphene oxide film through laser, and when the laser interacts with the composite material, oxygen-containing functional groups in the graphene oxide can be removed, and the photo-thermal conversion efficiency and the thermal conductivity of the material can be regulated and controlled. Specifically, the adopted laser wavelength is 780nm, the power is 5W, the laser power is continuously adjustable from 0-100%, and the photothermal conversion efficiency before and after modification can be improved to 98.7%. The in-situ integrated photo-thermal conversion secondary structure is realized through laser processing, and the problems of difficult integration and low preparation yield in the aspect of miniaturization in the traditional macroscopic robot manufacturing are solved in one step; the lower layer of the secondary structure 2 is made of flexible high-molecular polymer material and has a large photo-thermal expansion coefficient. The double-layer film of the secondary structure 2 can convert light energy into mechanical deformation under the irradiation of a light source. The upper layer structure converts light energy of a light field into heat energy, the heat energy is rapidly conducted to the lower layer flexible high polymer material, and the directional bending is caused by the difference of the thermal expansion coefficients of the two materials. The energy conversion efficiency of the secondary structure 2 before and after laser modification is greatly improved, and the light-mechanical energy conversion efficiency is improved from 0.003-0.005% to 0.38%.
The shape design pattern of the robot is cut by laser cutting to directly form a 3D crawling robot with a designable shape;
performing double-field cooperative control;
the prepared double-field cooperatively-driven omnidirectional-motion robot is placed on any plane, as shown in fig. 1, a strong magnet is introduced into a non-uniform gradient magnetic field (400mT) with a certain specific direction, superparamagnetic ferroferric oxide nanoparticles in a main body structure are magnetized, and a force which deviates along the direction of the magnetic field is generated in the robot. Under the action of an external magnetic field, because static friction force exists between the substrate and the robot, the robot does not directly translate, the flexible main body structure of the robot is induced to deform by magnetic field force, and the internal elastic potential energy is directionally accumulated. After the robot is deformed, the center of gravity shifts, and the shifting distance and direction can be controlled by an external magnetic field, so that the supporting phase can be adjusted in an omnidirectional manner in the walking process;
the light manipulation has good space focusing characteristics, and can be appointed to irradiate on a specific leg joint; meanwhile, when the robot is operated and controlled by laser at a plurality of leg joints, the driving sequence can be designed, so that the robot is ensured to generate effective pace, and the stability of a swing phase is ensured;
when the magnetic field and the optical field simultaneously control the robot, the cooperative control of the support phase and the swing phase of the gait of the robot is realized, and the programmed design of the two mixed fields in direction, strength, period and time enables the robot to generate omnidirectional walking motion;
in view of the fact that the magnetic field can be manipulated not only in a two-dimensional plane, but also at a certain pitch angle to the plane. When the robot meets the situations of obstacles or slopes and the like, the magnetic field is used for adjusting and controlling the prestress distribution of the robot to assist the robot in obstacle crossing and climbing;
the omnidirectional robot based on the double-field cooperative driving has good material compatibility and strong structure designability, and has higher flexibility compared with the traditional single driving mode or the integration of a plurality of omnidirectional moving parts.
As shown in fig. 1, the invention provides a two-field cooperatively driven omnidirectional moving robot, which takes crabs as typical representatives of crawling movement to carry out a bionic design drawing;
as shown in fig. 3, the entire robot is a flexible film structure, including 16 optically-responsive secondary structures 2, and a magnetically-responsive primary structure 1;
as shown in fig. 2, the robot main body structure 1 is a double-layer film structure, and the upper layer is a composite material, and includes a ferroferric oxide nanoparticle material with magnetic responsiveness and a graphene oxide material; the magnetic response nano material is preferably 10mg/mL ferroferric oxide nano particles, the photo-thermal conversion material is 4mg/mL graphene oxide, and the composite volume ratio is 1: 10; the high molecular polymer material layer is selected from polyvinyl chloride material;
coating the composite material on a high polymer material in a spin coating mode, and drying to obtain a double-layer film structure; the drying temperature is selected to be 50 ℃. Thermal stress is introduced into the double-layer film in the drying process, when the double-layer film is taken off from the substrate and placed on any substrate at room temperature, the film structure with a certain radian is obtained after the stress is released;
and (3) modifying the upper layer material of the secondary structure 2 by using 780nm near-infrared laser, and removing oxygen-containing functional groups in the processed regional graphene oxide to obtain the reduced graphene material. Compared with a graphene oxide material, the reduced graphene material has significantly improved photo-thermal conversion efficiency and thermal conductivity, and as shown in fig. 2, the upper layer of the reduced secondary structure 2 is a composite material of ferroferric oxide nanoparticles and reduced graphene oxide. The laser modification area has rapid photo-thermal conversion efficiency, the photo-thermal conversion efficiency can reach 70 ℃ in about 0.2 second, while the photo-thermal conversion efficiency of the unprocessed area is poorer, and can reach 45 ℃ in about 1.5 seconds, and the modification effect is very obvious; the polymer material on the lower layer of the secondary structure 2 is subjected to temperature change, and then undergoes volume expansion, is restrained by the composite material on the upper layer, and has the effect of bending towards one side of the composite material layer, so that the leg swing phase movement is completed; further, the light manipulation adopts near-infrared laser (808nm, 60mW), and the spot size is 2mm × 5 mm;
example 3
A drive method of a double-field cooperative drive omnidirectional moving robot is disclosed, specifically, a main body structure generates macroscopic deformation under the action of an external magnetic field, and internal stress of the main body structure is directionally accumulated, so that the overall moving direction of the robot is determined; under the cooperative driving of the external magnetic field and the optical field, the robot simultaneously realizes the processes of gravity center shift and advancing, so that the secondary structure of the robot walks along the stress direction of the main structure.
As shown in fig. 4, for the robot, taking right walking as an example, the stress analysis is performed during the cooperative driving of the magnetic field and the optical field. In the initial state, the robot has a symmetrical macro structure with a single curvature arc due to the symmetrical structure. When a rightward magnetic field is applied to the robot, the whole composite material layer of the robot contains uniform magnetic nano particles, can be quickly magnetized under the action of the magnetic field, and generates magnetic force along the direction of the magnetic field under the action of a non-uniform magnetic field, the flexible robot deforms by virtue of the magnetic force to generate directional elastic potential energy accumulation to form an asymmetric structure, and the gravity center transfer process of a support phase in the crawling process is completed; keeping the magnetic field unchanged, applying a light field to the robot, and enabling the secondary structure of the robot to deform under the illumination condition to form a right stride. When the illumination stops, the leg swing path breaks the symmetry of the original movement, and the stepping to the right side is directly realized without returning to the original position. The robot can walk macroscopically by irradiating the legs of the robot one by one through laser. The eight-leg movement robot model is adopted, and walking stability of the robot is kept in the control process.
As shown in fig. 5, when non-uniform magnetic fields in different directions are applied to the robot, the robot can generate an effective crawling process along the magnetic field direction under the two-field cooperative driving.
Example 4 path planning for a crab robot with two coordinated drives
According to the embodiment 1, the robot can flexibly realize the movement in all directions, and when the direction of a magnetic field is changed in the movement process, the planning of the movement path of the robot can be realized;
as shown in fig. 6, after the robot is set to reach the target position 1(D1) and then reach the designated target position 2(D2), the magnetic field is firstly set to the right direction, the robot generates elastic potential energy accumulation and release which continuously travels to the right when guided by the magnetic field to the right and irradiated by laser, the robot reaches the target D1 which is 5cm away from the initial position after 30s, and then the magnetic field direction is set to the upward direction, and the accumulation and release of the elastic potential energy are changed from the original right direction to the upward direction during the movement of the robot. Thus, walking toward the second goal (D2) can be achieved without turning. After 15s, the specified area is reached.
The direction of the magnetic field has flexible modulation performance, and the superparamagnetic nano particles in the main body structure have very small coercive force and remanence, so that the stress direction of the robot can be changed along with the external magnetic field at any time. The omnidirectional movement avoids movement dead angles generated in the steering movement process, and is beneficial to realizing the exploration of a whole plane.
Example 5 two-field cooperative drive crab robot crossing roadblock
When the robot meets an obstacle, the direction of the magnetic field can be controlled, so that the robot can complete the bypassing process without turning; the robot can also assist the robot in the crossing or climbing process by changing the pitch angle of the magnetic field;
specifically, the magnetic field is adjustable in direction in the motion plane, and the control in the pitch angle direction can be realized.
As shown in fig. 7, when the robot encounters an obstacle, the walking motion can effectively implement the crossing function. In particular, by generating an upward force with the magnetic field, the friction between the robot and the ground can be reduced and an upward climbing traction force can be provided. And finally, the robot realizes the obstacle crossing process under the coupling control of the oblique upward magnetic field and the optical field.
Therefore, the two-field coupling driving robot is adopted, the flexibility degree of the robot can be greatly increased, the omnidirectional movement function can be realized for the simpler integrated robot, and the integration problem of the miniature robot in the manufacturing process is ingeniously solved. The control method has important significance for the intellectualization of the flexible robot, and the control mode can be introduced in the aspects of military affairs, medical treatment, production and life and the like.
The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, however, the present invention is not limited to the specific details of the above embodiments, and various simple modifications can be made to the technical solution of the present invention within the technical idea of the present invention, and these simple modifications are within the protective scope of the present invention.
It should be noted that the various technical features described in the above embodiments can be combined in any suitable manner without contradiction, and the invention is not described in any way for the possible combinations in order to avoid unnecessary repetition.
In addition, any combination of the various embodiments of the present invention is also possible, and the same should be considered as the disclosure of the present invention as long as it does not depart from the spirit of the present invention.
Claims (5)
1. The omnidirectional moving robot is characterized by comprising a main structure (1) with magnetic response and a secondary structure (2) with optical response, wherein the main structure (1) is a double-layer film with a plurality of foot structures at the edge, the upper layer of the double-layer film is made of magnetic response materials, and the lower layer of the double-layer film is made of flexible materials; the main body structure (1) can generate macroscopic deformation under the action of an external magnetic field, internal stress is directionally accumulated, and the walking of the robot is determinedDirection; the secondary structure (2) is a plurality of double-layer drivers arranged on the foot structure, the upper layer of each double-layer driver is made of a material with both optical response and magnetic response, and the lower layer of each double-layer driver is made of a flexible material; the secondary structure (2) can be bent under the drive of an external light field, so that the stepping process is realized; under the cooperative driving of an external magnetic field and an optical field, the robot simultaneously realizes the processes of gravity center shift and advancing, so that the robot walks along the stress direction of the main body structure (1); the magnetic response material used in the upper layer of the double-layer film structure of the main body structure (1) is a ferroferric oxide nano particle and graphene oxide composite material; the lower layer is made of flexible high polymer material; the concentration of the ferroferric oxide solution is 1-50mg/mL, the concentration of the graphene oxide solution is 1-10mg/mL, and the volume ratio of the two materials is 1:20-1: 50; the light-heat conversion rate of the composite material is 30-60%; the composite material is directly attached to the high polymer material by spin coating and evaporation, the thickness range of the composite material film after the spin coating and evaporation is 1-5 mu m, the temperature range of the thermal stress is controlled to be 30-80 ℃ during the spin coating, and the curvature modulation range of the finally obtained composite material film is 0-100m-1(ii) a The upper layer of the secondary structure (2) is obtained by laser modified ferroferric oxide nano particles and graphene oxide composite film, the adopted laser wavelength is 780nm, the power is 5W, and the laser power is continuously adjustable from 0-100%; the lower layer of the secondary structure (2) is made of a flexible high polymer material, and the high polymer material is a polyvinyl chloride material.
2. The driving method of a two-field cooperative driving omnidirectional moving robot as claimed in claim 1, wherein specifically, the main structure is macroscopically deformed under the action of an external magnetic field, and the internal stress of the main structure is directionally accumulated, thereby determining the overall moving direction of the robot; under the cooperative driving of the external magnetic field and the optical field, the robot simultaneously realizes the processes of gravity center shift and foot stepping, so that the secondary structure of the robot walks along the stress direction of the main structure.
3. A dual-field co-driven omnidirectional exercise robot as recited in claim 2, wherein said external magnetic field is a 0-400mT magnetic field having a uniform gradient in a certain direction, and the external light field is provided by incandescent, solar or laser light.
4. A two-field co-driven omnidirectional exercise robot as recited in claim 2, wherein said optical field is provided by a semiconductor laser having a wavelength of 808nm and a power of 200 mW.
5. The dual-field cooperatively driven omnidirectional moving robot according to claim 2, wherein the omnidirectional moving robot is capable of directional movement under the cooperative control of an external magnetic field and an optical field, and the crawling direction is adjustable within 360 ° in a plane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110149476.1A CN112965483B (en) | 2021-02-02 | 2021-02-02 | Omnidirectional motion robot cooperatively driven by two fields and driving method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110149476.1A CN112965483B (en) | 2021-02-02 | 2021-02-02 | Omnidirectional motion robot cooperatively driven by two fields and driving method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112965483A CN112965483A (en) | 2021-06-15 |
| CN112965483B true CN112965483B (en) | 2022-04-05 |
Family
ID=76274290
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110149476.1A Active CN112965483B (en) | 2021-02-02 | 2021-02-02 | Omnidirectional motion robot cooperatively driven by two fields and driving method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112965483B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113618711B (en) * | 2021-07-22 | 2023-08-22 | 江苏大学 | Composite hydrogel soft robot based on magneto-optical drive |
| CN114918905B (en) * | 2022-06-06 | 2023-09-15 | 浙江大学 | Thermochromic liquid-gas phase change flexible driver and preparation method thereof |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1586942A (en) * | 2004-07-09 | 2005-03-02 | 北京工业大学 | Single motor single driving straight wheel type small pipeline robot moving mechanism |
| CN105382833A (en) * | 2014-09-02 | 2016-03-09 | 丰田自动车株式会社 | Raveling robot, notion planning method for traveling robot |
| CN109175037A (en) * | 2018-08-28 | 2019-01-11 | 南京航威智造科技有限公司 | A kind of three-dimensional complex component twisting and shaping system and method based on tow-armed robot |
| CN110101356A (en) * | 2019-06-03 | 2019-08-09 | 河南工学院 | A kind of non-contact detection method and system of the fluid torsional moment of capsule robot |
| CN110270978A (en) * | 2019-07-15 | 2019-09-24 | 哈尔滨工业大学 | Micro-nano robot report control platform system under a kind of more physical energy fields coupling |
| CN110466637A (en) * | 2019-08-30 | 2019-11-19 | 燕山大学 | Single shaft-driven four feet all directions climbing robot and its control method |
| CN110962106A (en) * | 2019-12-03 | 2020-04-07 | 哈尔滨工业大学 | Micro-nano robot control platform with magnetic field and ultrasonic field coupling effect |
| CN111015683A (en) * | 2019-12-26 | 2020-04-17 | 哈尔滨工业大学 | Outfield-driven double-leg standing walking magnetic micro robot and gait control method thereof |
| CN111361532A (en) * | 2020-03-27 | 2020-07-03 | 中国人民解放军32181部队 | Six-foot robot for heavy vehicle chassis maintenance |
| CN212218473U (en) * | 2020-08-13 | 2020-12-25 | 南京工业职业技术学院 | Industrial robot arm |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10086516B2 (en) * | 2014-04-02 | 2018-10-02 | President And Fellows Of Harvard College | Color- or grayscale-sensing, magnetic, mobile, marking robot |
| US10800640B2 (en) * | 2016-08-26 | 2020-10-13 | Crown Equipment Corporation | Multi-field scanning tools in materials handling vehicles |
-
2021
- 2021-02-02 CN CN202110149476.1A patent/CN112965483B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1586942A (en) * | 2004-07-09 | 2005-03-02 | 北京工业大学 | Single motor single driving straight wheel type small pipeline robot moving mechanism |
| CN105382833A (en) * | 2014-09-02 | 2016-03-09 | 丰田自动车株式会社 | Raveling robot, notion planning method for traveling robot |
| CN109175037A (en) * | 2018-08-28 | 2019-01-11 | 南京航威智造科技有限公司 | A kind of three-dimensional complex component twisting and shaping system and method based on tow-armed robot |
| CN110101356A (en) * | 2019-06-03 | 2019-08-09 | 河南工学院 | A kind of non-contact detection method and system of the fluid torsional moment of capsule robot |
| CN110270978A (en) * | 2019-07-15 | 2019-09-24 | 哈尔滨工业大学 | Micro-nano robot report control platform system under a kind of more physical energy fields coupling |
| CN110466637A (en) * | 2019-08-30 | 2019-11-19 | 燕山大学 | Single shaft-driven four feet all directions climbing robot and its control method |
| CN110962106A (en) * | 2019-12-03 | 2020-04-07 | 哈尔滨工业大学 | Micro-nano robot control platform with magnetic field and ultrasonic field coupling effect |
| CN111015683A (en) * | 2019-12-26 | 2020-04-17 | 哈尔滨工业大学 | Outfield-driven double-leg standing walking magnetic micro robot and gait control method thereof |
| CN111361532A (en) * | 2020-03-27 | 2020-07-03 | 中国人民解放军32181部队 | Six-foot robot for heavy vehicle chassis maintenance |
| CN212218473U (en) * | 2020-08-13 | 2020-12-25 | 南京工业职业技术学院 | Industrial robot arm |
Non-Patent Citations (3)
| Title |
|---|
| 体内微型机器人的全方位旋进驱动特性;张永顺等;《机器人》;20061130;第560-564、570页 * |
| 崎岖地面上小型机器人的多场耦合研究;赵晋锋;《中国优秀硕士学位论文全文数据库 信息科技辑》;20130315;第I140-350页 * |
| 石墨烯智能机器人的制备与多场耦合操控研究;韩冰;《中国优秀博硕士学位论文全文数据库(博士)信息科技辑》;20191115;第I140-23页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112965483A (en) | 2021-06-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112965483B (en) | Omnidirectional motion robot cooperatively driven by two fields and driving method thereof | |
| Tsang et al. | Roads to smart artificial microswimmers | |
| Trimmer | Soft robots | |
| Joyee et al. | Multi-material additive manufacturing of functional soft robot | |
| Wang et al. | Magnetic soft robots: Design, actuation, and function | |
| Dai et al. | Integrated assembly and flexible movement of microparts using multifunctional bubble microrobots | |
| Lu et al. | Reversible underwater adhesion for soft robotic feet by leveraging electrochemically tunable liquid metal interfaces | |
| Zhang et al. | Chevbot–an untethered microrobot powered by laser for microfactory applications | |
| CN112623164B (en) | Visible light driven jellyfish-like micro swimming soft robot and method thereof | |
| WO2022126701A1 (en) | Electromagnetic field platform and control system having same | |
| Wang et al. | Multi-mode motion control of reconfigurable vortex-shaped microrobot swarms for targeted tumor therapy | |
| Sun et al. | Gecko-and-inchworm-inspired untethered soft robot for climbing on walls and ceilings | |
| Jiang et al. | A dual-driven biomimetic microrobot based on optical and magnetic propulsion | |
| Bogue | Microrobots and nanorobots: a review of recent developments | |
| Watanabe et al. | Structurally isolated photoactuation of graphene-mixed temperature-responsive hydrogels in soft-rigid series structure | |
| Zhu et al. | External Field‐Driven Untethered Microrobots for Targeted Cargo Delivery | |
| CN111015683A (en) | Outfield-driven double-leg standing walking magnetic micro robot and gait control method thereof | |
| Yang et al. | Bio-inspired propeller robot with controllable pitch driven by magnetic and optical coupling field | |
| Huang et al. | Driving modes and characteristics of biomedical micro-robots | |
| Chen et al. | Magnetic untethered peanutlike millirobot motion mode switching control | |
| Amokrane et al. | Design and prototyping of a magnetic actuator based permanent magnets for microbead navigation in viscous environment | |
| Xia et al. | Multicomponent and multifunctional integrated miniature soft robots | |
| Baisch | Design, manufacturing, and locomotion studies of ambulatory micro-robots | |
| Li et al. | Cutting the cord: progress in untethered soft robotics and actuators | |
| Li et al. | On-Demand Maneuver of Millirobots with Reprogrammable Motility by a Hard-Magnetic Coating |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |