CN116968838A - Magnetic driving spherical robot capable of freely steering - Google Patents
Magnetic driving spherical robot capable of freely steering Download PDFInfo
- Publication number
- CN116968838A CN116968838A CN202311001104.XA CN202311001104A CN116968838A CN 116968838 A CN116968838 A CN 116968838A CN 202311001104 A CN202311001104 A CN 202311001104A CN 116968838 A CN116968838 A CN 116968838A
- Authority
- CN
- China
- Prior art keywords
- spherical robot
- robot
- module
- rolling
- electromagnet
- 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.)
- Pending
Links
- 238000005096 rolling process Methods 0.000 claims abstract description 46
- 239000011553 magnetic fluid Substances 0.000 claims abstract description 35
- 230000005484 gravity Effects 0.000 claims description 17
- 238000000034 method Methods 0.000 claims description 12
- 230000009191 jumping Effects 0.000 claims description 10
- 239000000696 magnetic material Substances 0.000 claims description 3
- 230000001681 protective effect Effects 0.000 claims description 2
- 230000000694 effects Effects 0.000 claims 1
- 241000282414 Homo sapiens Species 0.000 abstract description 4
- 238000006073 displacement reaction Methods 0.000 abstract description 4
- 238000009826 distribution Methods 0.000 abstract description 3
- 235000010627 Phaseolus vulgaris Nutrition 0.000 description 7
- 244000046052 Phaseolus vulgaris Species 0.000 description 7
- 230000033001 locomotion Effects 0.000 description 7
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 6
- 229910052742 iron Inorganic materials 0.000 description 3
- 239000007788 liquid Substances 0.000 description 3
- 239000003129 oil well Substances 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 2
- 241001476363 Centropyge acanthops Species 0.000 description 1
- 241000238631 Hexapoda Species 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to the technical field of robots, in particular to a magnetic driving spherical robot capable of freely steering, which changes the distribution of magnetic fluid in a shell by controlling the discharge of an electromagnet, so that the spherical robot generates centroid deflection and further generates displacement to realize the rolling of the robot, and the robot can generate jump by attracting impact by an impact block through the electromagnet; the spherical structure enables the robot to freely move in various directions without being limited by the environment, solves the moving and operating problems of the traditional spherical robot in a complex environment which cannot be adapted, can execute various tasks in the environment which cannot be reached or dangerous, can reduce the risk exposure of human beings, and improves the efficiency and reliability of the tasks.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a magnetic driving spherical robot capable of freely steering.
Background
Common structures for spherical robots are off-center pendulum drive, trolley drive, flywheel drive and multi-mass offset. The center of gravity of the research on spherical robots by most research teams is in eccentric weight pendulum driving and trolley driving. The driving of the deflection center pendulum is to change the position of the pendulum inside the robot to deflect the mass center of the robot, and generate deflection moment to make the spherical robot move, so as to finally reach a new balance state. However, the robot with the structure has poor balance performance and a complex control structure; in addition, the robot needs to control the swing angle to realize obstacle crossing, which increases the difficulty of the structural design of the robot. The trolley is driven to move in the spherical shell so as to generate relative rotation, and the spherical robot is displaced. The starting mode mainly depends on friction force to provide power, the phenomenon that wheels and spherical shells slide occurs, the transmission efficiency is low, and the robot driven by the trolley cannot cross obstacles. Conventional robotic designs are typically based on wheeled or leg structures, adapted for use on flat surfaces or in standard work environments. However, in some situations, such as in-pipe, high pressure environments, these conventional robots often face difficult or inadaptable problems.
Disclosure of Invention
In order to solve the problems in the prior art, the main purpose of the invention is to provide a free-steering magnetic driving spherical robot, which solves the moving and operating problems in complex environments that the traditional robot cannot adapt to.
In order to solve the technical problems, according to one aspect of the present invention, the following technical solutions are provided:
a magnetically driven spherical robot that is free to steer, comprising:
an inner case, a middle case disposed outside the inner case;
the inner shell is internally provided with a rolling module and a jumping module, so that the rolling and jumping of the robot are realized;
magnetic fluid is arranged between the inner shell and the middle shell.
As a preferred embodiment of the free-steering magnetically driven spherical robot according to the invention, there is provided: the robot further comprises a control module arranged in the inner shell, and control of the rolling module and the jumping module is achieved.
As a preferred embodiment of the free-steering magnetically driven spherical robot according to the invention, there is provided: the robot further comprises a shell arranged outside the middle shell and used as a protection shell of the spherical robot.
As a preferred embodiment of the free-steering magnetically driven spherical robot according to the invention, there is provided: the inner shell, the middle shell and the outer shell are rigidly connected.
As a preferred embodiment of the free-steering magnetically driven spherical robot according to the invention, there is provided: the rolling module comprises a plurality of rolling module electromagnets distributed on the inner wall of the inner shell.
As a preferred embodiment of the free-steering magnetically driven spherical robot according to the invention, there is provided: the jump module comprises a jump module guide column, an impact block and a jump module electromagnet; the jump module guide column extends to the inner wall of the inner shell along the core part of the inner shell, the jump module electromagnet is arranged in the jump module guide column and fixed on the inner wall of the inner shell, and the impact block is arranged at the other end, far away from the inner wall of the inner shell, of the jump module guide column.
As a preferred embodiment of the free-steering magnetically driven spherical robot according to the invention, there is provided: the impact block is made of soft magnetic material and can be magnetized in a magnetic field.
In order to solve the above technical problems, according to another aspect of the present invention, the following technical solutions are provided:
a method of actuating a free-steering magnetically driven spherical robot, comprising:
the rolling method of the spherical robot comprises the following steps: when the electromagnet of a certain rolling module is electrified to generate a magnetic field, attractive force is generated on magnetic fluid between the inner shell and the middle shell, at the moment, the magnetic fluid is subjected to the self gravity and the supporting force of the inner wall of the middle shell and also subjected to the attractive force of the magnetic field, the magnetic fluid flows towards the position where the electromagnet of the rolling module generates the magnetic field, and the gravity center of the spherical robot is deviated due to the flowing deviation of the magnetic fluid, so that the spherical robot rolls; after that, the electromagnet of one rolling module is powered off, the electromagnet of the other rolling module is powered on to generate a magnetic field, and the gravity center of the spherical robot is deviated towards the corresponding direction; and continuing the operation, and realizing the controllable continuous rolling of the spherical robot in any direction.
As a preferable mode of the action method of the freely-steerable magnetically-driven spherical robot, the invention is characterized in that: also included is a method of manufacturing a semiconductor device,
the jump method of the spherical robot comprises the following steps: the jump module electromagnet at the upper half part of the spherical robot is electrified to form a magnetic field, the impact block is magnetized under the action of the magnetic field and attracted by the jump module electromagnet, the impact block accelerates in the jump module guide column, and the impact surface outside the jump module electromagnet is impacted to realize the jump of the spherical robot.
In order to solve the above technical problems, according to another aspect of the present invention, the following technical solutions are provided:
the magnetically driven spherical robot capable of being turned freely is applied in industrial, rescue, exploration and other fields, such as pipeline, high pressure, oil well, etc.
The beneficial effects of the invention are as follows:
the invention provides a magnetic driving spherical robot capable of freely steering, which changes the distribution of magnetic fluid in a shell by controlling the discharge of an electromagnet, so that the spherical robot generates mass center deviation and further generates displacement to realize the rolling of the robot, and the impact block is attracted by geomagnetic iron to generate impact to enable the robot to jump; the spherical structure enables the robot to freely move in various directions without being limited by the environment, solves the moving and operating problems of the traditional spherical robot in a complex environment which cannot be adapted, can execute various tasks in the environment which cannot be reached or dangerous, can reduce the risk exposure of human beings, and improves the efficiency and reliability of the tasks.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural view of a spherical robot of the present invention;
FIG. 2 is a schematic view of a spherical robot in a stationary state according to the present invention;
fig. 3 is a schematic view of a rolling state of the spherical robot of the present invention;
fig. 4 is a diagram showing a rolling state stress analysis of the spherical robot according to the present invention.
The device comprises a 1-outer shell, a 2-middle shell, a 3-inner shell, a 4-rolling module electromagnet, a 5-jump module guide column, a 6-impact block, a 7-jump module electromagnet, an 8-magnetic fluid and a 9-control module.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
The following description will be made clearly and fully with reference to the technical solutions in the embodiments, and it is apparent that the described embodiments are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention mainly aims to provide a free-steering magnetic driving spherical robot, which has the following advantages:
(1) High efficiency: the magnetic driving spherical robot realizes jumping and moving by utilizing magnetic force impact and magnetic fluid deflection, and the magnetic fluid is a special liquid with high fluidity and controllability, and can generate power through the action of a magnetic field to drive the robot to advance. The propulsion mode does not need a transmission device in the traditional robot, reduces transmission loss and improves efficiency.
(2) High precision: the magnetically driven spherical robot has excellent precision, and can precisely control the motion of the robot due to the controllability of magnetic force and magnetic fluid. The magnetic force and the magnetic fluid system can be adjusted according to the requirement, so that the robot can perform highly accurate operation in a narrow space. This precision advantage makes spherical magnetohydrodynamic robots excellent in tasks requiring fine positioning and handling.
(3) Motorized continuous and rapid: the plurality of rolling module electromagnets enables the robot to have excellent flexibility and maneuverability. The magnetic fluid has controllability and high fluidity, the position of the magnetic fluid is changed by sequentially changing the magnetic field of the coil, the robot can continuously and freely rotate in any direction, so that the speed of the spherical robot is gradually increased, the robot is not limited by the steering angle of the traditional robot during movement, the robot can flexibly navigate and operate in a complex environment, in addition, the magnetic driving spherical robot can generate jumps with different heights by changing the magnetic field of different jump modules, the spherical robot can rotate and jump at the same time, and therefore, the magnetic driving spherical robot can freely move on uneven ground, obstacles are overcome, and the magnetic driving spherical robot is suitable for various working scenes.
(4) Environmental suitability: the magnetic driving spherical robot can adapt to various environments, does not need mechanical connection or transmission parts, and realizes movement through magnetic driving and magnetic fluid technology. The spherical magnetic fluid robot has the advantages that the robot can realize non-contact movement, transmission friction and abrasion are avoided, the risk of mechanical faults is reduced, the spherical structure has high compressive strength, the spherical magnetic fluid robot can freely move in liquid, gas and other complex environments, such as underwater, oil wells, pipelines and the like, and the environment adaptability enables the spherical magnetic fluid robot to have wide application prospects in the fields of industry, rescue, exploration and the like.
The invention provides a mexico jumping bean imitation theory, which is that the body of a larva in the bean is fixed on the inner wall of the bean, and the other end of the larva is violently impacted against the inner wall of the bean, so that the bean can jump a certain height, and when the insect rolls in the bean, the mass center of the bean changes and rolls along with the mass center.
Aiming at the principle and structure of mexico bean jumping, the bionic structure is analyzed, the novel robot design based on magnetic force is explored, the magnetic force can provide non-contact power transmission and control the magnetic driving robot to be born, the magnetic fluid is changed to be distributed in a ball by controlling the electric magnet to be discharged, the spherical robot generates mass center deviation and then generates displacement to realize the movement of the robot, and the magnet can attract the impact iron block to generate impact to enable the robot to generate jumping movement. The problem of traditional spherical robot can't adapt to removal and operation under the complex environment is solved.
The robot aims to cope with task requirements in complex and severe environments, such as mine exploration, nuclear power station maintenance and the like. The spherical magnetic drive magnetic fluid robot has omnidirectional movement capability and high pressure bearing, and can execute various tasks in unreachable or dangerous environments. The method can reduce human risk exposure and improve task efficiency and reliability.
As shown in fig. 1-4, one embodiment of the present invention provides a free-steering magnetically driven spherical robot comprising:
an inner case 3, a middle case 2 provided outside the inner case 3;
the rolling module and the jumping module are arranged in the inner shell 3, so that the rolling and jumping of the robot are realized;
a magnetic fluid 8 is arranged between the inner shell 3 and the middle shell 2.
In one embodiment of the invention, the robot further comprises a control module 9 arranged in the inner housing 3 for controlling the rolling module and the jump module.
In one embodiment of the invention, the robot further comprises a housing 1 arranged outside the middle housing 2 as a protective shell for the spherical robot.
In one embodiment of the invention, the inner shell 3, the middle shell 2, the outer shell 1 are rigidly connected.
In one embodiment of the invention, the rolling module comprises a plurality of rolling module electromagnets 4 distributed on the inner wall of the inner housing 3.
In one embodiment of the invention, the jump module comprises a jump module guide post 5, an impact block 6 and a jump module electromagnet 7; the jump module guide post 5 extends along the core part of the inner shell 3 to the inner wall of the inner shell 3, the jump module electromagnet 7 is arranged in the jump module guide post 5 and fixed on the inner wall of the inner shell 3, and the impact block 6 is arranged at the other end, far away from the inner wall of the inner shell 3, of the jump module guide post 5.
In one embodiment of the invention the impact block 6 is made of a soft magnetic material, which is magnetizable in a magnetic field.
As shown in fig. 1-4, another embodiment of the present invention provides a method of actuating a free-steering magnetically driven spherical robot, comprising:
the rolling method of the spherical robot comprises the following steps: when the spherical robot is at rest on the ground, the gravity center of the spherical robot is positioned under the sphere center, and the magnetic fluid 8 only receives the self gravity and the supporting force of the inner wall of the middle shell 2, and the gravity and the supporting force are in the same direction and opposite in the same direction, so that the upper surfaces of the two sides of the magnetic fluid 8 positioned between the inner shell 3 and the middle shell 2 are balanced, and the state of the magnetic fluid 8 is shown in figure 2; when the control module 9 controls the electromagnet 4 of a certain rolling module to electrify and generate a magnetic field, attractive force is generated on the magnetic fluid 8 between the inner shell 3 and the middle shell 2, the stress condition of the magnetic fluid 8 is changed, at the moment, the magnetic fluid 8 is subjected to the self gravity and the supporting force of the inner wall of the middle shell 2, the attractive force of the magnetic field is also received, the magnetic fluid can flow towards the position of the electromagnet 4 of the rolling module generating the magnetic field, the state is shown in fig. 3, the stress state of the spherical robot is shown in fig. 4, the flow deviation of the magnetic fluid 8 causes the gravity center of the spherical robot to deviate, at the moment, the gravity center deviates from the direction of the electromagnet 4 of the rolling module generating the magnetic field, at the moment, the spherical robot is wholly subjected to the action of gravity G, the ground supporting force F and the ground friction force F, the gravity G is L relative to the moment arm of the centroid of the spherical robot, the ground friction force F relative to the moment arm of the centroid of the spherical robot is R, and the stress analysis is carried out: m1=gl, m2=fr, and M1 > M2, the flow deviation of the magnetic fluid 8 causes the gravity center of the spherical robot to deviate, so as to realize the rolling of the spherical robot; after that, one rolling module electromagnet 4 is powered off, the other rolling module electromagnet 4 is powered on to generate a magnetic field, and the gravity center of the spherical robot is shifted towards the corresponding direction; and continuing the operation, and realizing the controllable continuous rolling of the spherical robot in any direction.
In one embodiment of the present invention, the number of the rolling module electromagnets 4 is not fixed, and can be uniformly assembled on the inner wall of the inner shell 3 as required, but it should be noted that the number of the rolling module electromagnets 4 is proportional to the degree of flexibility of the rolling phase change of the robot in a certain range.
In one embodiment of the present invention, further comprising: when the spherical robot detects an obstacle such as a step by a sensor means during the task execution, the robot can jump to the step or go over the obstacle by a jump function.
In one embodiment of the invention, the spherical robot jump method: the control module 9 controls a certain jump module electromagnet 7 positioned at the upper half part of the spherical robot to be electrified to form a magnetic field, the impact block 6 is magnetized under the action of the magnetic field and attracted by the jump module electromagnet 7, the impact block 6 accelerates in the jump module guide column 5, and the impacted surface outside the jump module electromagnet 7 is impacted to realize the jump of the spherical robot; then the electromagnet 7 of the jump module is powered off, and the impact block 6 returns to the bottom of the guide post 5 of the jump module under the action of gravity.
In one embodiment of the invention, the free-steering magnetically driven spherical robot is applied to the fields of industry, rescue, exploration and the like (such as in pipelines, high-pressure (such as underwater, oil wells and the like) and the like, and the spherical structure has high compressive strength and can freely move in liquid, gas and other complex environments.
According to the invention, the distribution of the magnetic fluid in the shell is changed by controlling the on-off discharge of the electromagnet, so that the spherical robot generates mass center deviation and further generates displacement to realize the rolling of the robot, and the impact block is attracted by the geomagnetic iron to generate impact to enable the robot to jump; the spherical structure enables the robot to freely move in various directions without being limited by the environment, solves the moving and operating problems of the traditional spherical robot in a complex environment which cannot be adapted, can execute various tasks in the environment which cannot be reached or dangerous, can reduce the risk exposure of human beings, and improves the efficiency and reliability of the tasks.
The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the scope of the invention, and all equivalent structural changes made by the content of the present invention or direct/indirect application in other related technical fields are included in the scope of the present invention.
Claims (10)
1. A magnetically driven spherical robot that is free to turn, comprising:
an inner case, a middle case disposed outside the inner case;
the inner shell is internally provided with a rolling module and a jumping module, so that the rolling and jumping of the robot are realized;
magnetic fluid is arranged between the inner shell and the middle shell.
2. The magnetically driven spherical robot of claim 1, further comprising a control module disposed in the inner housing to effect control of the rolling module and the jump module.
3. The magnetically driven spherical robot of claim 1, further comprising a housing disposed outside the middle housing as a protective housing for the spherical robot.
4. A magnetically driven spherical robot as claimed in claim 3, wherein the inner shell, the middle shell and the outer shell are rigidly connected.
5. The magnetically driven spherical robot of claim 1, wherein the rolling modules comprise a plurality of rolling module electromagnets distributed on the inner wall of the inner housing.
6. The free-steering magnetically driven spherical robot of claim 5 wherein the jump module comprises a jump module guide post, an impact block, a jump module electromagnet; the jump module guide column extends to the inner wall of the inner shell along the core part of the inner shell, the jump module electromagnet is arranged in the jump module guide column and fixed on the inner wall of the inner shell, and the impact block is arranged at the other end, far away from the inner wall of the inner shell, of the jump module guide column.
7. The magnetically driven free-steering spherical robot of claim 6 wherein the impact block is made of soft magnetic material and is magnetizable in a magnetic field.
8. A method of actuating a free-steering magnetically driven spherical robot as claimed in claim 6, comprising:
the rolling method of the spherical robot comprises the following steps: the electromagnet of one rolling module is electrified to generate a magnetic field, attractive force is generated on magnetic fluid between the inner shell and the middle shell, the magnetic fluid flows towards the position where the electromagnet of the rolling module generates the magnetic field, and the flowing deviation of the magnetic fluid leads to the deviation of the gravity center of the spherical robot, so that the rolling of the spherical robot is realized; after that, the electromagnet of one rolling module is powered off, the electromagnet of the other rolling module is powered on to generate a magnetic field, and the gravity center of the spherical robot is deviated towards the corresponding direction; and continuing the operation, and realizing the controllable continuous rolling of the spherical robot in any direction.
9. The method of actuating a free-steering magnetically driven spherical robot of claim 8, further comprising,
the jump method of the spherical robot comprises the following steps: the jump module electromagnet at the upper half part of the spherical robot is electrified to form a magnetic field, the impact block is magnetized under the action of the magnetic field and attracted by the jump module electromagnet, the impact block accelerates in the jump module guide column, and the impact surface outside the jump module electromagnet is impacted to realize the jump of the spherical robot.
10. Use of a free-wheeling magnetically driven spherical robot according to any one of claims 1 to 7 in the field of industry, rescue, exploration.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311001104.XA CN116968838A (en) | 2023-08-10 | 2023-08-10 | Magnetic driving spherical robot capable of freely steering |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311001104.XA CN116968838A (en) | 2023-08-10 | 2023-08-10 | Magnetic driving spherical robot capable of freely steering |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116968838A true CN116968838A (en) | 2023-10-31 |
Family
ID=88474894
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311001104.XA Pending CN116968838A (en) | 2023-08-10 | 2023-08-10 | Magnetic driving spherical robot capable of freely steering |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116968838A (en) |
-
2023
- 2023-08-10 CN CN202311001104.XA patent/CN116968838A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Grieco et al. | A six-legged climbing robot for high payloads | |
| US11142268B2 (en) | Lightweight 4-degree-of-freedom leg mechanism of bionic quadruped robot | |
| Guan et al. | A modular biped wall-climbing robot with high mobility and manipulating function | |
| Tavakoli et al. | The hybrid OmniClimber robot: Wheel based climbing, arm based plane transition, and switchable magnet adhesion | |
| US20180231111A1 (en) | Drive system using balls within a conduit for transmission of motive power | |
| Ferrière et al. | ROLLMOBS, a new universal wheel concept | |
| Mahboubi et al. | Design and implementation of a novel spherical mobile robot | |
| Kikuchi et al. | Basic performance experiments for jumping quadruped | |
| Fischer et al. | Magnetic wall climbing robot for thin surfaces with specific obstacles | |
| CN107612263A (en) | The rotation of multiple degrees of freedom electromagnetic machine and inclination control | |
| US9321466B2 (en) | Controllable normal force mechanism with minimum energy consumption | |
| CN116968838A (en) | Magnetic driving spherical robot capable of freely steering | |
| Li et al. | Novel omnidirectional climbing robot with adjustable magnetic adsorption mechanism | |
| Deng et al. | Motion planning and simulation verification of a hydraulic hexapod robot based on reducing energy/flow consumption | |
| Zhang et al. | Design and optimization of an omnidirectional permanent-magnetic wheeled wall-climbing microrobot with MEMS-based electromagnetic micromotors | |
| CN116691867B (en) | Constraint-variable magnetic driving robot | |
| Frutiger et al. | Magmites-wireless resonant magnetic microrobots | |
| Zoghzoghy et al. | Modeling, design, and implementation of a baton robot with double-action inertial actuation | |
| Bolotnik et al. | Automatically controlled vibration-driven robots | |
| CN116853377A (en) | Ellipsoid robot imitating mexico jumping bean | |
| Barbot et al. | Controllable roll-to-swim motion transition of helical nanoswimmers | |
| US10377231B2 (en) | Magnet-assisted ball drive | |
| CN110877643A (en) | Spherical robot structure driven by electromagnet and iron sand in matched mode | |
| Sison et al. | Spherical magnetic joint for inverted locomotion of multi-legged robot | |
| Wang et al. | Design and analysis of a hybrid two-wheel-hopping robot |
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 |