Biomimetic micro-robot technology based on non-contact and cable-free magnetic actuation has become one of the crucial focuses of future biomedical research and micro-industrial development.Inspired by the motion char...Biomimetic micro-robot technology based on non-contact and cable-free magnetic actuation has become one of the crucial focuses of future biomedical research and micro-industrial development.Inspired by the motion characteristics of ray fish,this article proposes a micro-robot with magnetic controlled bionic ray structure.The micro-robot is made of soft elastic materials such as poly dimethyl siloxane(PDMS),Ethylene-Propylene-Diene Monomer(EPDM),and magnetic material Neodymium Iron Boron(NdFeB)nanoparticles.The external driving magnetic field is a periodic oscillating magnetic field generated by a Helmholtz coil.In order to verify the feasibility of the ray-inspired micro-robot,the motion principle was analyzed and several experiments were carried out.Experimental results demonstrated that the ray-inspired micro-robot can excellently mimic the crucial swimming characteristics of rays under the driving force of a oscillating magnetic field with an intensity of 5 mT and a frequency of 5 Hz,the swimming speed of the biomimetic micro-robot can reach nearly 2 body lengths per second.Analysis shows that the speed and stability of the micro-robot primarily depends not only on the amplitude and frequency of the vertical oscillating magnetic field,but also on the magnitude of the horizontal uniform magnetic field.This article demonstrates that the designed biomimetic micro-robot has the potential application of remotely performing specialized tasks in confined,complex environments such as microchannel-based scenarios.展开更多
This paper focuses on a bionic ray-inspired amphibious robot(BRAR), which is modeled through the differential steering approach. A nonlinear model predictive control(NMPC) obstacle avoidance method is proposed for tra...This paper focuses on a bionic ray-inspired amphibious robot(BRAR), which is modeled through the differential steering approach. A nonlinear model predictive control(NMPC) obstacle avoidance method is proposed for trajectory planning. First, a BRAR's differential drive system is designed, followed by kinematic and dynamic modeling. Subsequently, an NMPC-based obstacle avoidance trajectory planning method is developed to constitute safe trajectories in complex workspaces.Further, a dead zone compensation method is proposed to improve control precision. Finally, the effectiveness of the proposed method is validated through both simulations and experiments. Simulation and experimental results demonstrate the feasibility and effectiveness of the proposed methods.展开更多
基金supported by the National Natural Science Foundation of China(No.52005116)the Guangzhou Science and Technology Plan Project(No.SL2024A03J00589)+2 种基金the Guangdong Province Ordinary University Characteristic Innovation Project(No.2023KTSCX100)the Guangdong Basic and Applied Basic Research Foundation(No.2020A1515111176 and No.2023A1515011791)the Guangzhou University Graduate Innovation Research Project,(No.2022GDJC-M20)。
文摘Biomimetic micro-robot technology based on non-contact and cable-free magnetic actuation has become one of the crucial focuses of future biomedical research and micro-industrial development.Inspired by the motion characteristics of ray fish,this article proposes a micro-robot with magnetic controlled bionic ray structure.The micro-robot is made of soft elastic materials such as poly dimethyl siloxane(PDMS),Ethylene-Propylene-Diene Monomer(EPDM),and magnetic material Neodymium Iron Boron(NdFeB)nanoparticles.The external driving magnetic field is a periodic oscillating magnetic field generated by a Helmholtz coil.In order to verify the feasibility of the ray-inspired micro-robot,the motion principle was analyzed and several experiments were carried out.Experimental results demonstrated that the ray-inspired micro-robot can excellently mimic the crucial swimming characteristics of rays under the driving force of a oscillating magnetic field with an intensity of 5 mT and a frequency of 5 Hz,the swimming speed of the biomimetic micro-robot can reach nearly 2 body lengths per second.Analysis shows that the speed and stability of the micro-robot primarily depends not only on the amplitude and frequency of the vertical oscillating magnetic field,but also on the magnitude of the horizontal uniform magnetic field.This article demonstrates that the designed biomimetic micro-robot has the potential application of remotely performing specialized tasks in confined,complex environments such as microchannel-based scenarios.
基金supported by the National Natural Science Foundation of China under Grants 52205019 and 62373198the Tianjin Science Fund for Distinguished Young Scholars under Grant 22JCJQJC00140+1 种基金the Guangdong Basic and Applied Basic Research Foundation under Grant 2023A1515012669the Fundamental Research Funds for the Central Universities under Grant 078-63243157
文摘This paper focuses on a bionic ray-inspired amphibious robot(BRAR), which is modeled through the differential steering approach. A nonlinear model predictive control(NMPC) obstacle avoidance method is proposed for trajectory planning. First, a BRAR's differential drive system is designed, followed by kinematic and dynamic modeling. Subsequently, an NMPC-based obstacle avoidance trajectory planning method is developed to constitute safe trajectories in complex workspaces.Further, a dead zone compensation method is proposed to improve control precision. Finally, the effectiveness of the proposed method is validated through both simulations and experiments. Simulation and experimental results demonstrate the feasibility and effectiveness of the proposed methods.
