Journal of South China University of Technology (Natural Science Edition) ›› 2021, Vol. 49 ›› Issue (2): 151-160.doi: 10.12141/j.issn.1000-565X.200608

Special Issue: 2021年流体动力与机电控制工程

• Fluid Power & Electromechanical Control Engineering • Previous Articles    

Design and Experiments of Spherical Magnetic Actuated Ｒobot Based on Magnetorheological Fluid 

HUA Dezheng1 LIU Xinhua1,2 ZHAO Xin1 LU He1 LI Zengqiang2 LIU Xiaofan3   

  1. 1． School of Mechatronic Engineering，China University of Mining and Technology，Xuzhou 221116，Jiangsu，China; 2． Technology and Innovation Ｒesearch Center of Jiang Yan EDZ，Taizhou 225500，Jiangsu，China; 3． China Coal Education Association，Beijing 100713，China
  • Received:2020-10-09 Revised:2020-12-25 Online:2021-02-25 Published:2021-02-01
  • Contact: :刘新华 ( 1981-) ，男，博士，教授，博士生导师，主要从事磁流变液微观机理、微型机器人研究。 E-mail:13645213800@126.com
  • About author:华德正 ( 1993-) ，男，博士生，主要从事磁流变液机器人设计和控制策略研究。E-mail: hua_dezheng@cumt.edu.cn
  • Supported by:
    Supported by the National Natural Science Foundation of China ( 51975568) and the Natural Science Foundation of Jiangsu Province ( BK20191341)

PDF

70

Abstract: For the problem that NdFeB permanent magnet is brittle and has moulding difficulties in making micro structure，magnetorheological fluid was used as the actuated material for the micro magnetic robot，and a spherical robot for targeted drug delivery in human stomach was designed． According to the rheological principle of magnetorheological fluid，the mechanical relationship of magnetic particles in magnetic field was analyzed，and the dynamic model of spherical robot was established and simulated． The magnetic robot motion image acquisition system was built and robot displacement was calculated with Hough transform circle detection algorithm． Finally，a prototype robot was made and its motion characteristics were tested on an experimental platform with space magnetic field． Ｒesults show that the spherical actuated robot based on magnetorheological fluid is easy to control and its motion is stable and reliable.

Key words: magnetorheological fluid, spherical robot, micro robot, magnetic analysis, image recognition

CLC Number: