【摘要】 连续体机器人固有的柔软、非线性变形特性使其非常适用于复杂的非结构化环境，其中，磁响应软连续体机器人由于易于制造、小型化和远程操控而引发广泛关注。基于硬磁软材料的力学模型提出了一种分段式磁响应软连续体机器人，并根据预定义二维形态设计了机器人的分段磁化模式。这种软连续体机器人变形灵活、响应快速且具备形状可编程性，能够在特定作业中高效完成任务。基于ABAQUS的二次开发功能并结合用户单元子程序对磁响应软连续体机器人进行建模和仿真，结果充分验证了分段磁化的设计模型能够很好地实现驱动磁场下的预定义变形轮廓。进一步地，以硬磁颗粒含量和长径比为分析变量，以形态周期宽度为衡量指标，分别研究了两者对驱动性能的影响。更多还原

【Abstract】 The inherent soft,nonlinear deformation properties of continuum robots has made them well suited for complex unstructured environments,among of them,magnetically responsive soft continuum robots have attracted widespread attention due to their ease of fabrication,miniaturization,and remote manipulation.The segmented magnetically responsive soft continuum robots was proposed based on the mechanical model of hard magnetic soft materials,and the segmented magnetization patterns of robots were designed under predefined 2Dmorphologies,which were flexible,responsive,and shapeprogrammable to perform tasks efficiently in specific job scenarios.Based on the secondary development function of ABAQUS and combined with the user unit subroutine,the soft continuum robot was modeled and simulated.The results fully verified that the segmented magnetization design model could well realize the predefined deformation profile under the driving magnetic field.Furthermore,the content of hard magnetic particles and aspect ratio were used as analysis variables,and the extracted morphological period width was used as a measure,respectively studying their influence on driving performance.更多还原