内置式三电磁驱动斜坡爬行软体机器人  

Built-in triple electromagnetically driven slope crawling soft robot

作　　者：迟涵 朱永强 张平霞 庄虎跃 邹龙华 朱元成 周光耀 CHI Han;ZHU Yongqiang;ZHANG Pingxia;ZHUANG Huyue;ZOU Longhua;ZHU Yuancheng;ZHOU Guangyao(School of Mechanical and Automotive Engineering,Qingdao University of Technology,Qingdao 266520,China)

机构地区：[1]青岛理工大学机械与汽车工程学院,青岛266520

出　　处：《现代制造工程》2025年第4期77-83,131,共8页Modern Manufacturing Engineering

基　　金：国家自然科学基金项目(51005128);山东省自然科学基金项目(ZR2022MF332);山东省高等学校本科教学改革研究项目(M2023190);青岛理工大学研究生教育教学改革研究项目(Y032022-014)。

摘　　要：磁驱动是小型软体机器人的重要驱动方式之一,目前大部分磁驱动软体机器人采用外部磁场,爬坡能力较弱。针对此问题,提出一种内置电磁驱动的蠕虫状软体机器人,它可以在多种角度的斜面上爬行。实验采用了20 mm×6 mm×11 mm、22 mm×6 mm×11 mm两种型号的软体机器人,验证铜线圈吸引与排斥磁铁的强度大小对爬行稳定性的影响。实验得出中间距离大的软体机器人爬行稳定性与爬坡能力更强,其可在最大40°斜坡上,实现超过1 mm/s的速度爬行;中间距离小的软体机器人爬行速度较快,但爬坡能力与稳定性较弱。介绍了软体机器人的最大坡度影响因素和运动动作原理,探讨了硅胶厚度、驱动装置的选择以及电磁触角的运动分析,并在无外部磁场环境下进行了多种斜面角度的爬行实验。Magnetically driven constitutes one of the significant drive modalities for small soft robots.Currently, the majority of magnetically driven soft robots employ external magnetic fields and exhibit weak crawling capabilities. To address this problem, a worm-like soft robot with built-in electromagnetically driven was proposed, which can crawl on sloping surfaces with multiple angles. Two models of soft-bodied robots, sized at 20 mm×6 mm×11 mm and 22 mm×6 mm×11 mm, were utilized in the experiments to verify the effect of the strength magnitude of the attracting and repelling magnets of the copper coils on the stability of crawling. It was concluded that the soft robot with a larger intermediate distance possesses stronger crawling stability and crawling ability, and it can crawl at a speed exceeding 1 mm/s on a maximum slope of 40°;the soft robots with small intermediate distances crawl faster, but have less crawling ability and stability. The influencing factors of the maximum slope and the motion action principle of the soft robot were presented, the thickness of the silicone, the selection of the drive device and the motion analysis of the electromagnetic contacts were discussed, and a variety of slope angle crawling experiments under the environment of no external magnetic field were carried out.

关 键 词：软体机器人 尺蠖 电磁铁 铜线圈 

分 类 号：TM15[电气工程—电工理论与新技术]