Contact Dynamic Behaviors of Magnetic Hydrogel Soft Robots
Magnetic hydrogel soft robots have shown great potential in various fields. However, their contact dynamic behaviors are complex, considering stick–slip motion at the contact interface, and lack accurate computational models to analyze them. This paper improves the numerical computational method for...
Saved in:
| Main Authors: | , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2024-12-01
|
| Series: | Gels |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2310-2861/11/1/20 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1832588421410848768 |
|---|---|
| author | Yunian Shen Yiming Zou |
| author_facet | Yunian Shen Yiming Zou |
| author_sort | Yunian Shen |
| collection | DOAJ |
| description | Magnetic hydrogel soft robots have shown great potential in various fields. However, their contact dynamic behaviors are complex, considering stick–slip motion at the contact interface, and lack accurate computational models to analyze them. This paper improves the numerical computational method for hydrogel materials with magneto-mechanical coupling effect, analyses the inchworm-like contact motion of the biomimetic bipedal magnetic hydrogel soft robot, and designs and optimizes the robot’s structure. In the constitutive model, a correction factor representing the influence of the direction of magnetic flux density on the domain density has been introduced. The magnetic part of the Helmholtz free energy has been redefined as the magnetic potential energy, which can be used to explain the phenomenon that the material will still deform when the magnetic flux density is parallel to the external magnetic field. The accuracy of the simulation is verified by comparing numerical solutions with experimental results for a magnetic hydrogel cantilever beam. Furthermore, employing the present methods, the locomotion of a magnetic hydrogel soft robot modeled after the inchworm’s gait is simulated, and the influence of the coefficient of friction on its movement is discussed. The numerical results clearly display the control effect of the external magnetic field on the robot’s motion. |
| format | Article |
| id | doaj-art-79428e43f58f490390d45415ba96f771 |
| institution | Kabale University |
| issn | 2310-2861 |
| language | English |
| publishDate | 2024-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Gels |
| spelling | doaj-art-79428e43f58f490390d45415ba96f7712025-01-24T13:33:47ZengMDPI AGGels2310-28612024-12-011112010.3390/gels11010020Contact Dynamic Behaviors of Magnetic Hydrogel Soft RobotsYunian Shen0Yiming Zou1Department of Mechanics and Engineering Science, School of Physics, Nanjing University of Science and Technology, Nanjing 210094, ChinaDepartment of Mechanics and Engineering Science, School of Physics, Nanjing University of Science and Technology, Nanjing 210094, ChinaMagnetic hydrogel soft robots have shown great potential in various fields. However, their contact dynamic behaviors are complex, considering stick–slip motion at the contact interface, and lack accurate computational models to analyze them. This paper improves the numerical computational method for hydrogel materials with magneto-mechanical coupling effect, analyses the inchworm-like contact motion of the biomimetic bipedal magnetic hydrogel soft robot, and designs and optimizes the robot’s structure. In the constitutive model, a correction factor representing the influence of the direction of magnetic flux density on the domain density has been introduced. The magnetic part of the Helmholtz free energy has been redefined as the magnetic potential energy, which can be used to explain the phenomenon that the material will still deform when the magnetic flux density is parallel to the external magnetic field. The accuracy of the simulation is verified by comparing numerical solutions with experimental results for a magnetic hydrogel cantilever beam. Furthermore, employing the present methods, the locomotion of a magnetic hydrogel soft robot modeled after the inchworm’s gait is simulated, and the influence of the coefficient of friction on its movement is discussed. The numerical results clearly display the control effect of the external magnetic field on the robot’s motion.https://www.mdpi.com/2310-2861/11/1/20magnetic hydrogelrobotsmulti-field couplinglarge deformationparameter optimization |
| spellingShingle | Yunian Shen Yiming Zou Contact Dynamic Behaviors of Magnetic Hydrogel Soft Robots Gels magnetic hydrogel robots multi-field coupling large deformation parameter optimization |
| title | Contact Dynamic Behaviors of Magnetic Hydrogel Soft Robots |
| title_full | Contact Dynamic Behaviors of Magnetic Hydrogel Soft Robots |
| title_fullStr | Contact Dynamic Behaviors of Magnetic Hydrogel Soft Robots |
| title_full_unstemmed | Contact Dynamic Behaviors of Magnetic Hydrogel Soft Robots |
| title_short | Contact Dynamic Behaviors of Magnetic Hydrogel Soft Robots |
| title_sort | contact dynamic behaviors of magnetic hydrogel soft robots |
| topic | magnetic hydrogel robots multi-field coupling large deformation parameter optimization |
| url | https://www.mdpi.com/2310-2861/11/1/20 |
| work_keys_str_mv | AT yunianshen contactdynamicbehaviorsofmagnetichydrogelsoftrobots AT yimingzou contactdynamicbehaviorsofmagnetichydrogelsoftrobots |