Design and Simulation Analysis of an Octopus-Inspired Programmable Magnetic Soft Robot

Area of Science:

• Robotics
• Bioinspired Engineering
• Materials Science

Background:

• Soft robots mimic biological systems for versatile movement.
• Magnetic actuation offers wireless control but faces challenges in sophisticated deformation.
• Octopus tentacles inspire designs with adaptable stiffness and complex movements.

Purpose of the Study:

• To propose and analyze a programmable magnetic soft robot (PMSR) inspired by octopus tentacles.
• To investigate the controllable deformation of the PMSR using magnetic fields.
• To assess the PMSR's suitability for vascular interventional scenarios.

Main Methods:

• Designed a PMSR with a truncated cone profile and V-shaped notches for stiffness control.
• Utilized programmable magnetization technology for internal magnetic profiles.
• Developed a magnetic-mechanical coupling finite element model for deformation analysis under permanent magnet fields.

Main Results:

• Controllable bending was achieved by adjusting the permanent magnet's working distance and rotation angle.
• Parametric studies revealed the impact of notch geometry, magnetization, material stiffness, and remanent magnetization on performance.
• Contact mechanics simulations indicated safe operational limits for the PMSR tip in vascular environments.

Conclusions:

• The proposed PMSR design enables sophisticated and controllable deformation.
• The study provides a framework for designing and predicting the performance of bioinspired magnetic soft robots.
• The PMSR shows promise for applications in minimally invasive medical procedures.