现代制造工程Issue(4)：77-83,131,8.DOI:10.16731/j.cnki.1671-3133.2025.04.009
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
摘要
Abstract
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 an-gles.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 experi-ments 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 dis-tances crawl faster,but have less crawling ability and stability.The influencing factors of the maximum slope and the motion ac-tion principle of the soft robot were presented,the thickness of the silicone,the selection of the drive device and the motion analy-sis 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Key words
soft robot/inchworm/electromagnet/copper coil分类
动力与电气工程引用本文复制引用
迟涵,朱永强,张平霞,庄虎跃,邹龙华,朱元成,周光耀..内置式三电磁驱动斜坡爬行软体机器人[J].现代制造工程,2025,(4):77-83,131,8.基金项目
国家自然科学基金项目(51005128) （51005128）
山东省自然科学基金项目(ZR2022MF332) （ZR2022MF332）
山东省高等学校本科教学改革研究项目(M2023190) （M2023190）
青岛理工大学研究生教育教学改革研究项目(Y032022-014) （Y032022-014）
