CN115140210A - Biological hybrid robot with three motion modes and manufacturing method thereof - Google Patents
Biological hybrid robot with three motion modes and manufacturing method thereof Download PDFInfo
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- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
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- 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
- B62D57/021—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 the ground engaging means being sequentially inflatable bags for peristaltic movement
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Abstract
The invention provides a biological hybrid robot with three motion modes and a manufacturing method thereof, wherein the biological hybrid robot comprises an energy supply module, an execution module and a connection module; the connecting module is an elastic body; energy supply module includes electrode, musculature and fixed electrode's apron, connecting module arranges in a pair of connect between the execution module, the last a plurality of board microcolumns that is provided with of connecting module, musculature is planted between the connecting plate microcolumn and is grown the adhesion and be in through the cell connecting module is last, the apron connect in on the execution module, the electrode is fixed in through the fixed orifices on the apron, and the electrode is arranged in on the musculature. The modularized structural design standardizes the production and the manufacture of the biological hybrid robot, expands the application scenes and the functions of the robot in a complex environment, and the modularized manufacturing method is also favorable for reducing the manufacturing cost.
Description
Technical Field
The invention belongs to the field of biological hybrid robots, and particularly relates to a biological hybrid robot with three motion modes and a manufacturing method thereof.
Background
The biological hybrid robot is a novel robot for organically fusing a life system and an electromechanical system under the scale of molecules, cells and tissues, utilizes active tissues or cells of organisms as biological driving units, is ingeniously combined with a mechanical system, and has the advantages that the high-energy conversion efficiency, the environmental adaptability, the self-perception, the self-restoration and the like are difficult to achieve by the traditional electromechanical system. From 2012 onwards, journal papers on the subject of biological hybrid drive have grown exponentially and have progressed very rapidly. At present, the biological hybrid robot becomes the leading edge and the hot spot of the research in the robot field at present, receives high attention from a plurality of famous colleges and research institutes at home and abroad, and makes an important breakthrough in the last decade. The biological hybrid robot can enter and navigate in a non-accessible, dynamic, unknown and unstructured limit environment without invasion, and has wide application prospects in the fields of medicine, agriculture, military, environmental monitoring and the like. Therefore, the development of the biological hybrid robot has important scientific significance and important application value.
The working environment in reality is extremely complex, the complex working environment necessarily requires that the robot has multiple motion modes to adapt to the environment, and the single motion mode is difficult to work in the face of the complex working environment. Existing biological hybrid robots have been able to achieve a variety of single motion modalities including crawling, swimming, or peristalsis, however, there have been few studies involving the integration of motion modalities. Meanwhile, most of the existing manufacturing methods of the biological hybrid robot can only carry out small-batch and low-efficiency production, and do not relate to possible large-batch standardized manufacturing in the future.
Disclosure of Invention
The present invention is directed to a bio-hybrid robot having three motion modes and a method for manufacturing the same, which can realize three motion modes, i.e., crawling, swimming, and peristalsis, and provide a modular robot design to solve the problem of complicated manufacturing mentioned in the background art.
In order to solve the technical problems, the invention provides the following technical scheme:
a biological hybrid robot with three motion modes comprises an energy supply module, an execution module and a connection module;
the connecting module is an elastic body; energy supply module includes electrode, musculature and fixed electrode's apron, connecting module arranges in a pair of connect between the execution module, the last a plurality of board microcolumns that is provided with of connecting module, musculature is planted between the connecting plate microcolumn and is grown the adhesion and be in through the cell connecting module is last, the apron connect in on the execution module, the electrode is fixed in through the fixed orifices on the apron, and the electrode is arranged in on the musculature.
As a further improvement of the invention, when the swimming mode is adopted, the execution module and the connection module are of an integrated structure, the muscle tissue is arranged by being deviated to one side of the execution module, and the bottom of the execution module is a smooth plane.
As a further improvement of the invention, when the peristaltic movement mode is adopted, the execution module and the connection module are of a split structure, the muscle tissue is arranged to be deviated to one side of the execution module, and the bottom of the execution module is provided with a support body.
As a further improvement of the invention, when the crawling mode is adopted, the execution module and the connection module are of a split structure, the bottom of the execution module is provided with a detachable foot, a support body and an installation sliding groove, and the detachable foot is connected with the installation sliding groove.
As a further improvement of the invention, the support body comprises a section of semi-cylindrical feet.
As a further improvement of the invention, the detachable foot has a curvature, and the curvatures of the plurality of arc-shaped plates of the execution module are in the same direction.
As a further improvement of the invention, the cover plate is provided with a porous structure for fixing the electrode, the bottom of the cover plate is provided with a buckle, and the execution module is provided with a step-shaped clamping groove for matching with the buckle.
As a further improvement of the present invention, the execution module is provided with an open slot, and both ends of the connection module are respectively provided in the open slots of the pair of execution modules; the cover plate is arranged on the open slot.
A method for manufacturing a biological hybrid robot with three motion modes is characterized by comprising the following steps:
the robot is decomposed into three modules: after the matching mode and the overall structure of each module are determined, the overall size of the robot is selected, and the basic size of each module in the designed matching mode is divided under the restriction and the specification of the overall size, so that the sizes of the modules meet the requirement of uniform and balanced;
and adhering the three modules by using glue according to the designed overall structure of the robot so as to obtain the complete robot.
As a further improvement of the invention, after determining the structure and dimensions of each module, the manufacturing of the robot entity is performed using different manufacturing processes:
for the energy supply module, the electrode adopts a platinum electrode;
the elastic body is made of an Ecoflex material and is manufactured in a reverse mould mode; the muscle tissue is cultured and differentiated on the elastomer by C2C12 cells;
the cover plate is made of photo-curing printing resin.
Compared with the prior art, the invention has the following beneficial effects:
the biological hybrid robot comprises an energy supply module, an execution module and a connection module, wherein the execution module and the energy supply module are connected into a whole through the connection module, and the connection module is made of a flexible material and transmits muscular tissue actions to the execution module through bending; the execution module is used as a detachable component and has a plurality of structures, and a plurality of motion modes can be realized through different structures. The modularized structural design standardizes the production and the manufacture of the biological hybrid robot, expands the application scenes and the functions of the robot in a complex environment, and is favorable for reducing the manufacturing cost by the modularized manufacturing method.
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 it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a structural diagram of three motion modes of a biological hybrid robot;
FIG. 2 is a diagram of the mechanism of motion of the robot;
FIG. 3 is a diagram of a robot nomadic mode structure;
FIG. 4 is a diagram of a robot's peristaltic modality and foot configuration;
FIG. 5 is a diagram of a robot crawling mode structure;
FIG. 6 is a block diagram of the connection module of FIG. 1;
fig. 7 is a block diagram of a cover plate in the power module of fig. 1.
Detailed Description
In order to make the objects and technical solutions of the present invention clearer and more understandable. The present invention will be described in further detail with reference to the following drawings and examples, wherein the specific examples are provided for illustrative purposes only and are not intended to limit the present invention.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings, which are based on the orientations and positional relationships indicated in the drawings, and are used for convenience in describing the present invention and for simplicity in description, but do not indicate or imply that the device or element so referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus should not be construed as limiting the present invention. 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 to implicitly indicate 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 otherwise specified. In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; 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 in a specific case to those of ordinary skill in the art.
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings and specific embodiments, and it is to be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the invention without making creative efforts, fall within the scope of the invention.
As shown in fig. 1 to 7, the present invention designs a motion mode integrated biological hybrid robot system and a modularized design method thereof, which are significant for expanding the application prospect of biological hybrid robots and standardizing the design and manufacture thereof. Concretely, a biological hybrid robot system with three motion modes comprises an energy supply module 1, an execution module 3 and a connection module 2. The energy supply module 1 consists of an electrode 13, muscle tissues 11 and a cover plate 12 for fixing the electrode; the connecting module 2 is a connecting plate with a plurality of microcolumns on the surface. The connecting module 2 is an elastic body.
The execution module 3 may be composed of a pair of detachable feet, the connection module 2 is placed between the pair of detachable feet, the muscle tissue 11 is adhered to the connection module 2, the cover plate 12 is connected to the execution module, and the electrodes are fixed to the cover plate.
The inner wall of the execution module 3 is provided with a sliding groove for convenient installation and disassembly. The execution module is provided with various models and arc-shaped motion orientation structures, so that various motion modes can be realized.
The cover plate 12 has a porous structure for fixing the electrodes, and has a sliding groove on its inner wall for connecting with the actuator module. The muscle tissue grows and adheres to the connecting module by planting cells between the micropillars on the surface of the connecting plate.
The invention has three motion modes, which are as follows:
when the swimming mode is adopted, the execution module 3 and the connection module 2 are of an integrated structure, the muscle tissue 11 is arranged by deviating to one side of the execution module 3, and the bottom of the execution module 3 is a smooth plane.
When the device is in a peristaltic mode, the execution module 3 and the connection module 2 are in a split structure, the muscle tissue 11 is arranged by being deviated to one side of the execution module 3, and the bottom of the execution module 3 is provided with a support body 32.
When for crawling the mode, execution module 3 and linking module 2 are split type structure, and execution module 3 bottom has can dismantle foot, supporter 32 and installation spout 31, can dismantle the foot with installation spout 31 is connected.
The working process is as follows: when the energy supply module 1 works, the connecting module 2 bends along with the power output of the energy supply module 1. The actuating module 3 is driven by the driving force generated by the bending of the connecting module to generate corresponding forward movement.
The invention also provides a modular design and manufacturing method of the biological hybrid robot with three motion modes, which comprises the following steps:
according to the working principle of the robot, the robot is decomposed into three modules: the module comprises an energy supply module, an execution module and a connection module, wherein each module adopts a standardized design, and the size and the structure of each group of matched modules are specified so as to achieve the purpose of quick assembly.
The three modules adopt different manufacturing methods: in the energy supply module, the electrodes are platinum electrodes. The muscle tissue is differentiated by culturing C2C12 cells on an elastomer. The cover plate is manufactured by adopting photocuring printing resin after the structural design is finished.
In the connecting module, the elastic body is made of Ecoflex materials and is manufactured in a reverse mould mode.
In the execution module, the support body and the detachable foot are manufactured by cleaning and polishing after printing of the light-cured resin.
And after the three modules are manufactured, adhering the three modules by using glue according to the designed overall structure of the robot to obtain the complete robot.
The invention is described in further detail below with reference to the figures and the specific examples.
Examples
As shown in fig. 1, a biological hybrid robot with three motion modes includes an energy supply module 1, an execution module 3, and a connection module 2.
The energy supply module 1 consists of an electrode 13, muscle tissues 11 and a cover plate 12 for fixing the electrode; the execution module 3 consists of a pair of detachable feet; the connecting module 2 is a connecting plate with a plurality of microcolumns on the surface.
The connection module 2 is arranged between the pair of execution modules 3, the muscle tissue 11 grows and adheres to the connection module 2 by being planted between the connecting plate micro-columns 21 through cells, the cover plate 12 is connected to the execution modules 3, and the electrodes 13 are fixed on the cover plate 12 through fixing holes 121.
As shown in fig. 2, the motion mechanism of the robot is as follows:
after the electrical pulse stimulates the muscle tissue 11 to contract, the two masses are bent at the same angle towards the middle. From t1 to t2, the elastomeric material returns to the original length and the robot moves towards the low friction side due to asymmetric friction. Therefore, the robot moves forward by the contraction force of the muscle and the friction force of the contact area.
As shown in fig. 3, in the swimming mode of the robot, its connection module is also its execution module. Compared to the crawling and peristalsis modalities, the structure is very simplified, and only the muscle tissue 11 and the connection module 2 are included. The connecting module 2 is responsible for supporting, increasing the water contact area and executing the movement function, and directly stimulates muscle tissues to provide driving force during movement. The forward directional movement is realized by the asymmetrical arrangement of the muscles and the fish-shaped design of the head of the elastic body.
As shown in fig. 4 and 5, the robot ground motion is the creeping mode and the crawling mode, respectively. The crawling modality includes two more pairs of the detachable feet structurally than the peristaltic modality. The arc-shaped foot is 90-85 degrees, the motion of the robot is limited mainly in an energy storage state that the robot cannot enter t1, because the radian is too large, the contact motion distance required to be overcome by the motion of the front foot is longer, and the required energy is larger. When the radian of the arc-shaped foot of the robot is less than 80 degrees, mainly because the mechanical body is kept in a t1 contraction state, the whole gravity center of the robot is lowered due to the reduction of the radian, and the inner side supporting radian of the front foot is increased, so that the robot can enter a t2 state to move by overcoming the supporting force and larger friction force. Especially when the arc of the arc foot is below 70 deg., the resistance is so great that the robot cannot move normally. Therefore, the balance is kept between the two motion resistances, and the motion performance of the 85-degree arc-foot robot is optimal. Fig. 4 shows a block diagram of the actuator module 3 without detachable feet, which includes the support body 32 and the mounting chute 31 of the actuator module 3, wherein the support body 32 includes a semi-cylindrical foot. The semi-cylindrical feet realize the orientation function through front and back asymmetric friction coefficients. The forefoot and the hindfoot are driven by the muscle to contract inwards, and then when the muscle recovers and deforms, the forefoot and the hindfoot perform resetting movement. However, because the front half part of the semi-cylindrical foot is designed to be smooth and the rear half part is designed to be rough, the friction force of the front foot is smaller than that of the rear foot during resetting, and the forward resetting displacement of the front foot is larger than the backward resetting displacement of the rear foot, so that the forward directional movement is generated.
The muscle tissue 11 generates the same frequency contraction and extension under the pulse electrical stimulation applied by the electrode 13.
As shown in fig. 6, a plurality of micro-pillars 21 are evenly distributed on the surface of the connection module 2, and the micro-pillars 21 function as: the cell growth, proliferation and attachment structure strengthens the adhesion strength structure of muscle tissues. The connection module 2 undergoes reciprocal flexion and recovery with the contraction and extension of the muscle tissue 11.
As shown in fig. 5 and 7, the cover plate 12 has a porous structure for fixing the electrode 13, the bottom of the cover plate 12 is provided with a snap 122, and the actuator module 3 is provided with a step-shaped slot for engaging with the snap 122. The position of the cover plate 12 can be adjusted as required so that the electrodes 13 can produce pulsed electrical stimulation of the muscle tissue 11 at different locations to adjust the amplitude of the contraction.
The execution module 3 is provided with an open slot, and two ends of the connection module 2 are respectively arranged in the open slots of the execution module 3; the cover plate 12 is arranged on the open slot.
In the swimming mode, the robot can be placed on the water surface under the action of the connecting module 2, muscle tissues are directly stimulated by the handheld electrode to contract, the elastic body is driven to bend to generate driving force, and therefore the robot can generate the swimming mode on the water surface.
In the peristaltic motion mode, the robot is placed on the ground, the execution module 3 is in a non-installed detachable foot mode, the muscle tissue 11 contracts under the stimulation of the electrodes, the connection module 2 bends to generate driving force, and under the action of the driving force and the orientation function, the execution module 3 rotates along with the connection module 2 and generates micro displacement forwards, so that the peristaltic motion mode is realized.
In the crawling mode, the robot is arranged on the ground, the execution module 3 is in a detachable foot mounting mode, the muscle tissue 11 contracts under stimulation of the electrodes, the connection module 2 bends to generate driving force, and under the action of the driving force and the orientation function, the execution module 3 rotates along with the connection module 2 and generates large displacement towards the front, so that the crawling motion mode is realized.
A modular design and manufacturing method of a biological hybrid robot with three motion modes comprises the following steps:
the modular design method comprises the following steps: according to the working principle of the robot, the robot is decomposed into three modules: energy supply module, execution module and connection module. After the matching mode and the overall structure of each module are determined, the overall size of the robot is selected, and the basic size of each module in the designed matching mode is divided under the restriction and the specification of the overall size, so that the size of each module can meet the requirement of uniform and balanced. Wherein the cover plate 12 in the energy supply module 1 is sized and modeled by modeling software, and the width, length and height dimensions of the cover plate 12 are all determined by the overall dimensions of the execution module 3 and the robot. The muscle tissue 11 is designed to be connected to the connection module 2, and the size of the muscle tissue can be regulated according to the designed size of the elastic body. The support body and the detachable foot in the execution module 3 are strictly specified, the size and the structure of the support body are designed by adopting modeling software, and the width of the support body is determined by the whole width of the robot. The width of the connecting module 2 is determined by the width of the connecting groove of the executing device, and the length of the connecting module and the length of the executing device are determined by the overall size of the robot.
The modular manufacturing method comprises the following steps: after the structure and dimensions of the modules are determined, the robot entity is manufactured using different manufacturing processes. For the energy supply module 1, platinum electrodes are used as the electrodes 13. The muscle tissue 11 is differentiated by culturing C2C12 cells on an elastomer. The cover plate 12 is made of a photo-curable printing resin.
For the connection module 2, the elastomer is made of Ecoflex material and divided into A, B two liquids, and the elastomer is made in a reverse die mode: adding A, B bottles of PDMS solution into two beakers respectively by using a dropper, then pouring the two beakers into a culture dish, mixing the two beakers in equal proportion, stirring and mixing the mixture to obtain a PDMS mixed solution, performing reverse molding by using a reverse molding tool to form a large number of micro-cylinders on the elastomer, placing the culture dish in a 60-degree thermostat, preserving the temperature for 30min, and taking out the culture dish to obtain the solidified elastomer.
And for the execution module 3, importing the model processing file of the execution module into laser SPS600B photocuring 3D printer equipment for resin photocuring printing. And after printing is finished, taking out the part, removing the support, cleaning and polishing the part to obtain a smooth part.
In the whole integration process of the robot, two modes are needed for connecting the modules:
1) The execution module 3 is assembled using ergo 5800 glue.
2) Because the ergao 5800 glue can be solidified and hardened after being oxidized in air for a long time, the Ecoflex solution is used for melting and solidifying the forming mode when the execution module 3 and the connection module 2 are connected.
The mode can keep the softness and elasticity of the Ecoflex elastomer to the maximum extent, and prolong the working time of the biological mixing robot.
In summary, the present invention provides a bio-hybrid robot with three motion modes and a modular design and manufacturing method thereof, wherein the robot is composed of an energy supply module, an execution module and a connection module. The energy supply module consists of electrodes, muscle tissues and a porous cover plate for fixing the electrodes and is used for providing motion power for the robot; the execution module consists of a pair of detachable feet and is used for executing multi-mode movement of the robot; the connecting module is an elastic body and is used for supporting the muscle tissue and connecting the detachable foot.
The basic working principle is as follows: under the stimulation of the electrodes, the muscle tissue contracts, the elastic body connected with the muscle tissue bends under the action of the contraction force of the muscle, and the execution module displaces under the action of the elastic body. The invention mainly aims at the problem of single motion mode of the biological hybrid robot, and can realize various motion modes such as crawling, swimming, peristalsis and the like by converting the execution modules in different modes.
In the swimming mode, the muscle tissue of the robot is stimulated by the electrode to contract to drive the elastic body to bend to generate driving force, so that the robot realizes swimming motion on the water surface.
Under the peristaltic mode, the execution module is not provided with a detachable foot mode, muscle tissues shrink under the stimulation of the electrodes, the connection module bends to generate driving force, and under the action of the driving force and the orientation function, the execution module rotates along with the connection module and generates micro displacement forwards to realize peristaltic movement.
Under the mode of crawling, sufficient mode can be dismantled in the installation of execution module, and muscle tissue produces the shrink under the electrode stimulation, and the drive power is produced in the bending of connection module, and under drive power and directional function effect, execution module produces rotation and produces great displacement to the place ahead along with connection module, realizes crawling the motion.
The modularized design and manufacturing method can realize the standardized manufacturing of the biological hybrid robot and lay a practical foundation for future mass manufacturing.
The specific examples described herein are merely illustrative of the spirit of the invention. Those skilled in the art to which the invention relates may modify or supplement the described embodiments or may substitute them in a similar manner without departing from the spirit of the invention or exceeding the scope defined by the appended claims.
The above embodiments are only preferred embodiments of the present invention, and are not intended to limit the present invention, and all simple modifications, changes and equivalent structural changes made to the above embodiments according to the technical spirit of the present invention still fall within the protection scope of the technical solution of the present invention.
Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art can make modifications and equivalents to the specific embodiments of the present invention without departing from the spirit and scope of the present invention, which is set forth in the following claims.
Claims (10)
1. A biological hybrid robot with three motion modes is characterized by comprising an energy supply module (1), an execution module (3) and a connection module (2);
the connecting module (2) is an elastic body; energy module (1) is including apron (12) of electrode (13), musculature (11) and fixed electrode, connection module (2) are arranged in a pair of connect between execution module (3), be provided with a plurality of board micropillars (21) on connection module (2), musculature (11) are planted between connection board micropillars (21) through the cell and grow and glue and be in on connection module (2), apron (12) connect in on execution module (3), electrode (13) are fixed in through fixed orifices (121) on apron (12), and electrode (13) are arranged in on musculature (11).
2. The biological hybrid robot with three motion modes according to claim 1, characterized in that, in the swimming mode, the execution module (3) and the connection module (2) are of a one-piece structure, the muscle tissue (11) is set to one side of the execution module (3), and the bottom of the execution module (3) is a smooth plane.
3. Biological hybrid robot with three movement modalities according to claim 1, characterized in that, in the peristaltic modality, the execution module (3) and the connection module (2) are of split structure, the muscle tissue (11) is set to one side of the execution module (3), and the bottom of the execution module (3) has a support (32).
4. The bio-hybrid robot with three motion modes according to claim 1, wherein when the robot is in a crawling mode, the execution module (3) and the connection module (2) are in a split structure, and the bottom of the execution module (3) is provided with a detachable foot, a support body (32) and a mounting chute (31), and the detachable foot is connected with the mounting chute (31).
5. A biological hybrid robot with three motion modalities according to claim 3 or 4, characterized by the fact that the support (32) comprises a section of semi-cylindrical feet.
6. The biological hybrid robot with three motion modalities according to claim 4, characterized in that the detachable foot has an arc, the arc of the plurality of arc of the execution module (3) being oriented in a uniform way.
7. The biological hybrid robot with three motion modes according to claim 1, characterized in that the cover plate (12) has a porous structure for fixing the electrode (13), a buckle (122) is arranged at the bottom of the cover plate (12), and a step-shaped clamping groove for matching with the buckle (122) is arranged on the execution module (3).
8. The biological hybrid robot with three motion modalities according to claim 1, characterized in that the execution module (3) is provided with an open slot, and the two ends of the connection module (2) are respectively arranged in the open slots of a pair of the execution modules (3); the cover plate (12) is arranged on the open slot.
9. A method of manufacturing a bio-hybrid robot having three modes of motion according to any one of claims 1 to 8, comprising the steps of:
the robot is decomposed into three modules: after the matching mode and the integral structure of each module are determined, the integral size of the robot is selected, and the basic size of each module in the designed matching mode is divided under the restriction and the specification of the integral size, so that the sizes of the modules meet the requirement of uniform balance;
and adhering the three modules by using glue according to the designed overall structure of the robot so as to obtain the complete robot.
10. The manufacturing method according to claim 9,
after determining the structure and dimensions of the modules, the robot entity is manufactured using different manufacturing processes:
for the energy supply module (1), the electrode (13) is a platinum electrode;
the elastic body is made of Ecoflex materials and is manufactured in a reverse die mode; the muscle tissue (11) is cultured and differentiated on the elastomer by C2C12 cells;
the cover plate (12) is made of a photo-curing printing resin.
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| CN114475987A (en) * | 2022-02-28 | 2022-05-13 | 复旦大学 | Multi-mode mobile robot |
| CN114643820A (en) * | 2022-03-11 | 2022-06-21 | 江苏大学 | Omnidirectional amphibious composite liquid crystal elastomer soft robot based on optomagnetic drive and control method thereof |
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