基于3D打印硬磁软材料的磁控软体机器人开发  

Development of magnetically controlled soft robot based on 3D printed hard magnetic soft material

作　　者：黄麟阁 张治国 潘峰 HUANG Linge;ZHANG Zhiguo;PAN Feng(College of Mechanical Engineering,Tianjin University of Science&Technology,Tianjin 300222,China;Tianjin Key Laboratory of Integrated Design and Online Monitoring for Light Industry&Food Machinery and Equipment,Tianjin 300222,China;Mechanical Equipment Research Institute,Xinjiang Academy of Agricultural and Reclamation Science,Shihezi 832000,China)

机构地区：[1]天津科技大学机械工程学院,天津300222 [2]天津市轻工与食品工程机械装备集成设计与在线监控重点实验室,天津300222 [3]新疆农垦科学院机械装备研究所,新疆石河子832000

出　　处：《传感器与微系统》2024年第2期89-92,共4页Transducer and Microsystem Technologies

基　　金：兵团科技合作计划项目(2022BC007)。

摘　　要：近年来,磁软体机器人因其优异的生物安全性、环境适应性和快速响应能力受到广泛关注,在生物医疗等领域展示出巨大的应用潜力。本文针对磁软体机器人的墨水直写(DIW)3D打印问题,根据需求和材料特性进行材料设计优化,制备了具有稳定可打印性的硬磁软材料墨水。在此基础上,通过流变性实验验证了混合墨水的可打印性,使用DIW完成了对硬磁软体机器人的制造。之后,设计并制造了一种用于货物搬运的多模态磁软体机器人,在外磁场的作用下机器人可以以爬行和滚动两种模式运动,兼具货物搬运和放置的能力。本文所提出的磁软体机器人3D打印方法将为以后磁软体机器人的材料选择和广泛应用提供基础。In recent years,magnetic soft robots have received widespread attention for their excellent biosafety,environmental adaptability and rapid response capability,and have demonstrated great application potential in biomedical and other fields.Aiming at the problem of the direct ink writing(DIW)3D printing of magnetic soft robots,the material design is optimized according to the requirements and material properties,and a hard magnetic soft material ink with stable printability is prepared.On this basis,the printability of the hybrid ink is verified by rheological experiments,and the fabrication of a hard magnetic soft robot is completed using DIW.After that,a multimodal magnetic soft robot for cargo handling is designed and fabricated,the robot can move in both crawling and rolling modes under the action of an external magnetic field,with both cargo handling and placement capabilities.The proposed 3D printing method of magneto-soft robot will provide a basis for the material selection and wide application of magneto-soft robot in the future.

关 键 词：墨水直写 硬磁材料 软体机器人 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]