A Programmable Inchworm-Inspired Soft Robot Powered by a Rotating Magnetic Field

Abstract With the growing demand for miniaturized workspaces, microrobots has been increasing in robotics research. Compared to traditional rigid robots, soft robots have better robustness and safety. a flexible structure, can undergo large deformations achieve variety of motion states. Researchers are working design fabricate based on biomimetic principles, using magnetic fields cable-free actuation. In this study, we propose an inchworm-shaped robot driven by field. First, is designed fabricated force analysis performed. Then, factors affecting robot’s speed examined, including spacing between magnets strength frequency On basis, characteristics different shapes explored, its modes such as climbing experimentally investigated. The results show that be controlled two-dimensional plane, movement adjusting field other factors. Our proposed expected find extensive applications various fields.