Magic fish-shaped magnetic control soft swimming robot, control method and manufacturing method

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Magic fish-shaped magnetic control soft swimming robot, control method and manufacturing method

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ZHANG PAN / ZHANG MENGYU / TANG JIANHUI / WU JUNDONG / WANG YAWU

The invention provides a magic fish-shaped magnetic control soft swimming robot, a control method and a manufacturing method.The robot comprises a floating platform, a trunk block, a supporting rod and a fin, the upper end of the supporting rod is connected with the floating platform, the lower end of the supporting rod is connected with the trunk block, the fin is fixedly connected with the bottom of the trunk block, and the fin is made of soft materials; comprising two side fin plates which are bilaterally symmetrical relative to the trunk block, each side fin plate comprises a rear non-magnetization area and a front magnetization area, the magnetization direction of each magnetization area is inclined, and the magnetization directions of the two magnetization areas are symmetrical relative to the trunk block. The swimming device has the advantages that under the action of an external magnetic field, the magnetized areas of the fin plates drive the non-magnetized areas to move, then swimming is achieved, and the swimming device is simple in structure, light in weight, small in size and easy to manufacture; forward swimming or steering is achieved by controlling the direction, strength and frequency of the applied magnetic field, control is flexible, control can be achieved without a cable, and the device is suitable for more scenes.

本发明提供一种魔鬼鱼形磁控软体游泳机器人、控制方法及制作方法，该机器人包括上浮平台、躯干块、支撑杆和鳍板，支撑杆上端连接上浮平台、下端连接躯干块，鳍板与躯干块底部固定连接，鳍板由软质材料制成，包括相对躯干块左右对称的两侧鳍板，每一侧鳍板包括后部的非磁化区和前部的磁化区，每一磁化区的磁化方向为倾斜设置，两磁化区的磁化方向相对躯干块对称设置。本发明的有益效果：在外界磁场的作用下，鳍板的磁化区带动非磁化区运动，进而实现游泳，结构简单、质量轻、体积小巧、制作容易；通过控制施加磁场的方向、强度和频率，实现向前游动或者转向，控制灵活，无需线缆即可控制，适用更多场景。