Magnetic control platform:
The magnetic field setup consists of a strong permanent magnet (bar
magnet or circular magnet), which is located under the mobile platform
and moves by manual control in the x-y and z plane. Based on the
orientation and strength of the magnetic field, the liquid metal soft
robot is controlled. To control the strength of the magnetic field
(magnet) exerted toward the execution unit (liquid metal soft robot) the
relative distance (d ) between the magnet and the liquid metal
soft robot is important and needs to be adjusted.
Based on the difference of the initial d value, the control
method can be divided into two types:
1. Precision operation. The initial value of d is small (d< 2 mm). Upon exertion of a strong magnetic field, the liquid
metal soft robot establishes a stable connection with the magnet. Within
a certain speed range, the liquid metal soft robot moves or deforms with
the movement of the magnet. This kind of control method is suitable for
precision operation, elongation, and bending of the droplet robot.
2. Quick movement. The initial value of d is large (d> 50 mm). The distance d is gradually reduced, and
the ability to control the droplet is increased. When d decreases
below the threshold distance, the liquid metal soft robot moves toward
the magnet rapidly until the liquid metal soft robot is closely
connected with the magnet through magnetic force and enters the
precision operation mode. This control method is suitable for the rapid
movement of liquid metal soft robots.