A U-shaped robotic gripper with displacement and deformation controlled by programmable magnetic fields

Area of Science:

• Robotics
• Materials Science
• Biomimetics

Background:

• Magnetic soft robots offer biocompatibility and untethered actuation for micromanipulation.
• Existing soft robots require precise control for complex tasks like grasping and manipulation.

Purpose of the Study:

• To fabricate and control a U-shaped soft robotic gripper (U-SRG) for micromanipulation tasks.
• To develop a bioinspired gripper (U-SRGs) with asymmetric magnetic properties for enhanced micro-object handling.

Main Methods:

• Fabrication of the U-SRG by doping PDMS with NdFeB powder and molding with Ecoflex-30.
• Utilizing a computer-controlled magnetic system to precisely steer uniform magnetic fields for U-SRG actuation.
• Implementing an asymmetric magnetic doping strategy for a crab-inspired U-SRGs gripper.

Main Results:

• The U-SRG demonstrated precise 2D rotation, translation, deformation, and microsphere grasping.
• The U-SRGs gripper exhibited differentiated clamping deformation, enabling size-based screening and targeted delivery of micro-objects.
• Computer control allowed for precise regulation of magnetic fields, influencing U-SRG motion and deformation.

Conclusions:

• The developed magnetic soft robots, U-SRG and U-SRGs, offer advanced capabilities for micromanipulation.
• The bioinspired asymmetric design significantly enhances micro-object grasping efficiency and manipulation.
• Precise magnetic field control is crucial for achieving complex soft robot functionalities.