Expansion of Self-assembled Structures of Heteroarray NdFeB Semicircular Arc Magnetic Minirobots  

作　　者：Wenguang Yang Huibin Liu Qinghao Guo Wenhao Wang Haibo Yu Anqin Liu 

机构地区：[1]School of Electromechanical and Automotive Engineering,Yantai University,Yantai,264005,China [2]State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang,110016,China [3]School of Mechanical and Electrical Engineering,Yantai Institute of Technology,Yantai,264005,China

出　　处：《Journal of Bionic Engineering》2024年第5期2258-2270,共13页仿生工程学报(英文版)

基　　金：financial support through National Natural Science Foundation of China(Project No.62273289);The Youth Innovation Science and Technology Support Program of Shandong Province(Project No.2022KJ274);Graduate Innovation Foundation of Yantai University,GIFYTU.

摘　　要：Researching the cooperative operation and functional expansion of multiple minirobot assemblies has the potential to bring about significant advancements in the practical applications of minirobots.In this study,we present a novel assembly sys-tem comprised of arc-shaped NdFeB magnetic minirobots.These minirobots can be individually utilized as assembly units,allowing for function expansion and comprehensive capability enhancement.We fabricate four Semicircular Arc Magnetic Minirobots(SAMM)arranged in different configurations and analyze their force and motion characteristics.Furthermore,by using this unit as a base,various expansion structures such as latches,petals,and rings can be assembled through reason-able combinations.We define the comprehensive reinforcement interval by comparatively analyzing changes in the unit's motion characteristics and operational capabilities.Precise motion manipulation is employed to verify the rationality of the basic unit structure and the feasibility of the assembly scheme.Our proposed self-assembly scheme for magnetic minirobots exhibits great potential and may be used as a paradigm for future research on expanding the functionality of minirobots.

关 键 词：NDFEB Semicircular arc Cutoff frequency ASSEMBLY Cooperative work Magnetic minirobots 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]