CN114643820A - Omnidirectional amphibious composite liquid crystal elastomer soft robot based on optomagnetic drive and control method thereof - Google Patents
Omnidirectional amphibious composite liquid crystal elastomer soft robot based on optomagnetic drive and control method thereof Download PDFInfo
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- 239000005871 repellent Substances 0.000 claims description 6
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- 238000005381 potential energy Methods 0.000 claims description 4
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- 230000002572 peristaltic effect Effects 0.000 claims description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/0007—Arrangement of propulsion or steering means on amphibious vehicles
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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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- 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
- B62D57/032—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 with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/30—Propulsive elements directly acting on water of non-rotary type
- B63H1/37—Moving-wave propellers, i.e. wherein the propelling means comprise a flexible undulating structure
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- Engineering & Computer Science (AREA)
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- Combustion & Propulsion (AREA)
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Abstract
The invention provides an omnidirectional and amphibious composite liquid crystal elastomer soft robot based on photomagnetic drive and a control method thereof, wherein the robot comprises a near-infrared light head part and a visible light tail part, the near-infrared light head part and the visible light tail part are of a folded structure, near-infrared light response particles are filled in the near-infrared light head part, visible light response particles are filled in the visible light tail part, multi-foot bristle structures are respectively arranged at the bottom of the near-infrared light head part and the bottom of the visible light tail part, and magnetic response particles are filled in the multi-foot bristle structures; the near-infrared light head, the visible light tail and the multi-legged bristle structure are deformed by selectively applying a near-infrared light field, a visible light field and a uniform magnetic field. The invention can realize the change of the degree of freedom in any direction and can complete more complicated posture change.
Description
Technical Field
The invention relates to the technical field of soft robots or flexible driving, in particular to an omnidirectional and amphibious composite liquid crystal elastomer soft robot based on optomagnetic driving and a control method thereof.
Background
Compared to traditional robotics, soft robotics offers many unique functions: shape deformation, change of form, enhanced survivability, and navigation in complex and confined terrain. In recent years, with the rise of bionic technology and intelligent materials, scientists use flexible intelligent materials such as memory alloy, electroactive polymer and liquid crystal elastomer to simulate biological structures and develop soft robots based on the principle of biological motion, and the soft robots are widely applied to the fields of human-computer interaction, grasping, field exploration and the like.
The soft robot has elastic flexibility and stronger adaptability to limited cooperative environments, and particularly in a working space with integrated human-robot, the soft robot capable of generating various mechanical actions is very helpful. The software robot has excellent flexibility and adaptability to environment, and can be well developed and applied in various fields such as military, detection, medical treatment and the like.
The prior art discloses an amphibious soft robot. The main structure of the device is a flexible driving joint and a water storage cavity. After the power is switched on, the flexible driving joint deforms and changes the bending angle of the flexible driving joint, and a drainage device is arranged in the water storage cavity and can be used for walking in water. The invention has stable structure and high maneuverability. However, the body is a rigid structure, and thus, the movement in a complex environment cannot be realized.
The prior art discloses a magnetic control inchworm-imitating bidirectional movement soft robot. The main body of the utility model is composed of a flexible trunk, a front leg structure and a rear leg structure. The robot can stably complete the motions of arching, shrinking, advancing and retreating by adjusting the direction of the magnetic field, but the motion mode is single and the robot is difficult to deal with complicated and variable road conditions.
The prior art discloses a highly integrated omnidirectional jumping soft robot. The main structure of the device is an upper layer module, insulating oil, an annular elastic frame and a lower layer module. The omnidirectional jump is completed through the asynchronous control of four pairs of electrodes, and the manufacture is simple. However, the design of electrode control is complex, and the control deviation caused in the process of matching and driving each part is large.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides an omnidirectional and amphibious composite liquid crystal elastomer soft robot based on optomagnetic drive and a control method thereof, which can realize the change of the degree of freedom in any direction and can complete more complicated posture change. Compared with other complex structures, the fold-back bristle structure provided by the invention is simple, but can be rapidly transformed in form and has high stability, sensitivity and functionality.
The present invention achieves the above-described object by the following technical means.
An omnidirectional and amphibious composite liquid crystal elastomer soft robot based on photomagnetic drive comprises a near-infrared light head part and a visible light tail part, wherein the near-infrared light head part and the visible light tail part are of a folded structure, near-infrared light response particles are filled in the near-infrared light head part, visible light response particles are filled in the visible light tail part, a multi-foot bristle structure is respectively arranged at the bottom of the near-infrared light head part and the bottom of the visible light tail part, and magnetic response particles are filled in the multi-foot bristle structure;
the near-infrared light field and the uniform magnetic field are selectively applied to enable the near-infrared light head and the multi-legged bristle structure to deform so as to enable the soft robot to generate peristaltic deformation in one direction; the tail part of visible light and the multi-legged bristle structure are deformed by selectively applying a visible light field and a uniform magnetic field, so that the soft robot can creep and deform in the other direction; by selectively applying a uniform magnetic field, the multi-legged bristle structure is deformed, and the motion pose of the soft robot is regulated and controlled; the multi-legged bristle structure is shortened by selectively applying a magnetic induction heating magnetic field, so that the moving height of the robot is reduced, and the multi-legged bristle structure is used for accumulating elastic potential energy to carry out jumping movement.
Further, the near-infrared light head is a near-infrared light temperature sensitive response liquid crystal elastic body, the surface of the near-infrared light head is subjected to solution spray gun treatment, the solution is a near-infrared light response particle solution, and the near-infrared light response particles are uniformly arranged and distributed on the surface of the infrared light head by the spray gun treatment of the near-infrared light temperature sensitive response liquid crystal elastic body.
Further, the visible light tail is a visible light temperature sensitive response liquid crystal elastomer, the surface of the visible light tail is subjected to solution spray gun treatment, the solution is a visible light response particle solution, and the visible light response particles are uniformly arranged and distributed on the surface of the visible light tail by the spray gun treatment of the visible light temperature sensitive response liquid crystal elastomer.
Further, the multi-legged bristle structure is a magnetic response liquid crystal elastomer, the magnetic response liquid crystal elastomer is formed by doping magnetic response particles into liquid repellent ink and printing the liquid repellent ink with the doped magnetic response particles through 4D printing.
Furthermore, the direction and the size of the uniform magnetic field are changed to change the bending angle and the bending direction of the multi-legged bristle structure; the method is used for changing the shrinkage of the multi-legged bristle structure by changing the temperature of the applied magnetic induction heating magnetic field.
A control method for climbing obstacles of the omnidirectional and amphibious composite liquid crystal elastomer soft robot based on the optomagnetic drive comprises the following steps:
applying a near-infrared light field to the near-infrared head part side to enable the near-infrared head part to generate a forward force so that the soft robot moves forwards;
the soft robot is bent upwards by applying a uniform and strong magnetic field vertically upwards at the tail part of the visible light and vertically upwards by the multi-legged bristle structure;
by selectively applying a near-infrared light field and a uniform magnetic field, the near-infrared light head and the multi-legged bristle structure are deformed, so that the soft robot can climb the obstacle;
when the soft robot climbs to the top of the obstacle, the near-infrared light field is applied only on the side of the near-infrared optical head part, so that the soft robot moves forwards.
The invention has the beneficial effects that:
1. the omnidirectional and amphibious composite liquid crystal elastomer soft robot based on the optomagnetic drive adopts the visible light tail part and the near infrared light head part as the driving energy sources of the soft robot; the multi-foot seta structure is used as a rudder of the soft robot to master the motion direction and the pose of the soft robot.
2. According to the omnidirectional and amphibious composite liquid crystal elastomer soft robot based on the optomagnetic drive, the visible light tail part and the near infrared light head part are of the folded structure, the bottom part is of the multi-legged bristle structure, the two structures are mutually controlled to be independent and not mutually interfered, and the optomagnetic composite effect is utilized to the maximum extent.
3. The omnidirectional and amphibious composite liquid crystal elastomer soft robot based on the magneto-optical drive utilizes the magnetic field to regulate and control the bending direction and angle of the bottom bristle structure in a navigation manner, and utilizes the magneto-thermal equipment to shorten the whole bristle structure, so that the height of the soft robot is reduced, and the soft robot can conveniently pass through narrow places.
4. The omnidirectional and amphibious composite liquid crystal elastomer soft robot based on the optomagnetic drive can realize climbing, obstacle crossing, jumping and swimming motions by utilizing the optomagnetic composite effect, and can move more stably under more complicated road conditions.
5. The omnidirectional and amphibious composite liquid crystal elastomer soft robot based on the optomagnetic drive adopts a 4D printing technology, is integrally printed and formed, and can enable magnetic response particles to be stably and uniformly distributed in a liquid crystal elastomer.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained from the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an omnidirectional and amphibious composite liquid crystal elastomer soft robot based on optomagnetic drive.
Fig. 2 is a schematic view of the omnidirectional movement of the robot under the combined action of the near-infrared light field, the visible light field and the magnetic field.
Fig. 3 is a schematic diagram of the swimming robot of the present invention in water.
Fig. 4 is a schematic diagram illustrating the embodiment of the present invention crawling over an obstacle, wherein fig. 4a is a first state, fig. 4b is a second state, fig. 4c is a third state, and fig. 4d is a fourth state.
FIG. 5 is a schematic view of an embodiment of the present invention taken through a stenosis.
Fig. 6 is a schematic diagram of a flying obstacle according to an embodiment of the present invention.
In the figure:
1-near infrared light head; 2-visible light tail; 3-a multi-legged bristle structure; 4-near infrared light responsive particles; 5-visible light responsive particles; 6-magnetically responsive particles.
Detailed Description
The invention will be further described with reference to the following figures and specific examples, but the scope of the invention is not limited thereto.
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "axial," "radial," "vertical," "horizontal," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present invention and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
As shown in fig. 1 and fig. 2, the omnidirectional and amphibious composite liquid crystal elastomer soft robot based on optomagnetic drive according to the present invention includes a near-infrared light head portion 1 and a visible light tail portion 2, where the near-infrared light head portion 1 and the visible light tail portion 2 are of a folded structure, near-infrared light response particles 4 are filled in the near-infrared light head portion 1, visible light response particles 5 are filled in the visible light tail portion 2, multi-legged bristle structures 3 are respectively disposed at the bottom of the near-infrared light head portion 1 and the bottom of the visible light tail portion 2, and magnetic response particles 6 are filled in the multi-legged bristle structures 3;
the near-infrared light head 1 and the multi-legged bristle structure 3 are deformed by selectively applying a near-infrared light field and a uniform magnetic field, so that the soft robot can generate creep deformation in one direction; the visible light tail part 2 and the multi-legged bristle structure 3 are deformed by selectively applying a visible light field and a uniform magnetic field, so that the soft robot can creep and deform in the other direction; by selectively applying a uniform magnetic field, the multi-legged bristle structure 3 generates multi-degree-of-freedom deformation, and the motion pose of the soft robot is regulated and controlled; the multi-legged bristle structure 3 is shortened by selectively applying a magnetic induction heating magnetic field, so that the moving height of the robot is reduced, and the multi-legged bristle structure is used for accumulating elastic potential energy to perform jumping movement.
The near-infrared light head part 1, the visible light tail part 2 and the multi-legged bristle structure 3 are all prepared into a liquid crystal elastomer by using a 4D printing technology. The near-infrared light head 1 is a near-infrared light temperature-sensitive response liquid crystal elastomer, the surface of the near-infrared light head 1 is subjected to solution spray gun treatment, the solution is a near-infrared light response particle 4 solution, and the near-infrared light response particles 4 are uniformly distributed on the surface of the near-infrared light head 1 through the spray gun treatment of the near-infrared light temperature-sensitive response liquid crystal elastomer. The visible light tail 2 is a visible light temperature-sensitive response liquid crystal elastomer, the surface of the visible light tail 2 is subjected to solution spray gun treatment, the solution is a visible light response particle 5 solution, and the visible light response particles 5 are uniformly distributed on the surface of the visible light tail 2 through the spray gun treatment of the visible light temperature-sensitive response liquid crystal elastomer. The multi-legged bristle structure 3 is a magnetic response liquid crystal elastomer, the magnetic response liquid crystal elastomer is formed by doping magnetic response particles 6 into liquid repellent ink, and printing is performed by using the liquid repellent ink 4D doped with the magnetic response particles 6. The near-infrared response particles 4 are gold nanorods; the visible light particles 5 are carbon nanorods.
The omnidirectional and amphibious composite liquid crystal elastomer soft robot based on the optomagnetic drive can realize an omnidirectional and multi-terrain amphibious motion scene of the soft robot through the multi-field synergistic effect of the near-infrared light field, the visible light field and the magnetic field. As shown in fig. 2, by applying a near-infrared light field at the near-infrared responsive head 1, the near-infrared responsive head 1 generates a straight-ahead force, so that the soft robot moves forward; by applying a visible light field to the visible light response tail part 2, the visible light response tail part 2 generates a right-back force to enable the soft robot to move backwards; by applying magnetic fields with different directions and strengths around the robot, the arrangement position of the magnetic particles 6 in the multi-legged bristle structure 3 is adjusted, so that the bending direction and angle of the multi-legged bristle structure 3 are changed, and the movement direction and pose of the soft robot are adjusted.
As shown in fig. 3, the soft robot swims in water, and by applying the near-infrared light field to the near-infrared response head 1, the near-infrared response head 1 generates a forward force, so that the soft robot moves forward, and applies a forward uniform magnetic field, so that the multi-legged bristle structure 3 bends forward, thereby preventing water flow from scattering the bending direction of the bristles, and enabling the robot to continue to advance in a predetermined direction.
The invention relates to a control method for climbing obstacles of an omnidirectional and amphibious composite liquid crystal elastomer soft robot based on optomagnetic driving, which comprises the following steps:
as shown in fig. 4a, when the soft robot encounters an obstacle, a near-infrared light field is applied to the near-infrared light head 1 side, so that the near-infrared light head 1 generates a forward force, and the soft robot moves forward;
the soft robot is bent upwards by applying a uniform and strong magnetic field vertically upwards to the visible light tail part 2 and vertically upwards through the multi-legged bristle structure 3;
as shown in fig. 4b, by selectively applying a near-infrared light field and a uniform magnetic field, the near-infrared light head 1 and the multi-legged bristle structure 3 are deformed, so that the soft robot climbs the obstacle;
when the soft robot climbs to the top of the obstacle as shown in fig. 4c, the near-infrared light field is applied only to the side of the near-infrared light head 1, and the near-infrared response head 1 generates a direct forward force, so that the soft robot moves forward. As shown in fig. 4d, the soft robot passes over an obstacle.
The omnidirectional and amphibious composite liquid crystal elastomer soft robot based on the magneto-optical drive can execute the movement behaviors of traversing narrow channels and flying over obstacles by utilizing the magneto-thermal and magnetic navigation principles of a magnetic field. As shown in fig. 5, a magnetic induction heating magnetic field is applied around the soft body robot, so that the bristles 3 are heated and shortened, and the moving height of the robot is reduced, and by applying a near infrared light field on the side of the near infrared light head 1, the near infrared response head 1 generates a forward force, so that the soft body robot moves forward, and the penetration of a narrow passage can be realized. If the multi-legged bristle structure 3 at the bottom of the soft robot is heated and contracted to accumulate a certain elastic potential energy, the action of jumping over the obstacle can be performed under the action of the magnetic navigation magnetic field, as shown in fig. 6.
It should be understood that although the specification has been described in terms of various embodiments, not every embodiment includes every single embodiment, and such description is for clarity purposes only, and it will be appreciated by those skilled in the art that the specification as a whole can be combined as appropriate to form additional embodiments as will be apparent to those skilled in the art.
The above-listed detailed description is only a specific description of possible embodiments of the present invention, and they are not intended to limit the scope of the present invention, and equivalent embodiments or modifications made without departing from the technical spirit of the present invention should be included in the scope of the present invention.
Claims (6)
1. An omnidirectional and amphibious composite liquid crystal elastomer soft robot based on optomagnetic driving is characterized by comprising a near-infrared light head part (1) and a visible light tail part (2), wherein the near-infrared light head part (1) and the visible light tail part (2) are of a folded structure, near-infrared light response particles (4) are filled in the near-infrared light head part (1), visible light response particles (5) are filled in the visible light tail part (2), multi-foot bristle structures (3) are respectively arranged at the bottom of the near-infrared light head part (1) and the bottom of the visible light tail part (2), and magnetic response particles (6) are filled in the multi-foot bristle structures (3);
the near-infrared light head (1) and the multi-legged seta structure (3) are deformed by selectively applying a near-infrared light field and a uniform magnetic field, so that the soft robot can generate peristaltic deformation in one direction; the visible light tail part (2) and the multi-legged bristle structure (3) are deformed by selectively applying a visible light field and a uniform magnetic field, so that the soft robot can creep and deform in the other direction; by selectively applying a uniform magnetic field, the multi-legged bristle structure (3) is deformed, and the motion pose of the soft robot is regulated; the multi-legged bristle structure (3) is shortened by selectively applying a magnetic induction heating magnetic field, so that the moving height of the robot is reduced, and the multi-legged bristle structure is used for accumulating elastic potential energy to carry out jumping movement.
2. The omnidirectional and amphibious composite liquid crystal elastomer soft robot based on optomagnetic drive according to claim 1, wherein the near-infrared light head (1) is a near-infrared light thermo-sensitive response liquid crystal elastomer, the surface of the near-infrared light head (1) is subjected to spray gun treatment, the solution is a near-infrared light response particle (4) solution, and the near-infrared light response particles (4) are uniformly distributed on the surface of the near-infrared light head (1) through the spray gun treatment on the near-infrared light thermo-sensitive response liquid crystal elastomer.
3. The omnidirectional and amphibious composite liquid crystal elastomer soft robot based on optomagnetic drive according to claim 1, wherein the visible light tail (2) is a visible light thermo-sensitive response liquid crystal elastomer, the surface of the visible light tail (2) is subjected to spray gun treatment, the solution is a solution of visible light response particles (5), and the visible light response particles (5) are uniformly arranged and distributed on the surface of the visible light tail (2) through the spray gun treatment of the visible light thermo-sensitive response liquid crystal elastomer.
4. The omnidirectional and amphibious composite liquid crystal elastomer soft robot based on optomagnetic drive according to claim 1, wherein the multi-legged bristle structure (3) is a magnetic-response liquid crystal elastomer, the magnetic-response liquid crystal elastomer is a liquid-repellent ink doped with magnetic-response particles (6), and the magnetic-response liquid crystal elastomer is formed by 4D printing with the liquid-repellent ink doped with the magnetic-response particles (6).
5. The omnidirectional and amphibious composite liquid crystal elastomer soft robot based on optomagnetic drive according to claim 1, wherein the direction and the magnitude of the uniform magnetic field are changed to change the bending angle and the bending direction of the multi-legged bristle structure (3); the method is used for changing the shrinkage of the multi-legged bristle structure (3) by changing the temperature of the applied magnetic induction heating magnetic field.
6. The obstacle climbing control method for the omnidirectional and amphibious composite liquid crystal elastomer soft robot based on the optomagnetic drive as claimed in claim 1, is characterized by comprising the following steps:
applying a near-infrared light field on the side of the near-infrared light head (1) to enable the near-infrared light head (1) to generate a forward force so that the soft robot moves forwards;
by applying a uniform magnetic field in the vertical direction to the visible light tail part (2) and by vertically upwards arranging the multi-foot bristle structure (3), the soft robot is bent upwards;
by selectively applying a near-infrared light field and a uniform magnetic field, the near-infrared light head (1) and the multi-legged bristle structure (3) are deformed, so that the soft robot climbs the obstacle;
when the soft robot climbs to the top of the obstacle, the near-infrared light field is applied to the near-infrared light head (1) side only, so that the soft robot moves forwards.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115140210A (en) * | 2022-07-20 | 2022-10-04 | 西安交通大学 | Biological hybrid robot with three motion modes and manufacturing method thereof |
| CN117429528A (en) * | 2023-12-06 | 2024-01-23 | 浙江大学 | Magnetic drive soft climbing robot and plant physiological information sensing method |
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