A liquid–solid mixed robot based on ferrofluid with high flexibility and high controllability

Abstract

A magnetically actuated robot, which could be divided into two categories, a solid-particle magnetic robot and a ferrofluid-based robot, has the potential application in rescuing, bioengineering, and medication. However, the solid-particle magnetic robot is limited by the pre-designed location of magnetization, which limits the flexibility of the robot. Here, this paper proposed a liquid–solid mixed and ferrofluid-based robot, which could overcome the weakness of the magnetic solid particle robot. In addition, topology optimization is used in the design process of the robot to obtain the logical structure for minimizing flow loss. The feasibility of the robot is validated in the COMSOL simulation model. Experimental results demonstrate that the robot possesses large flexibility and high controllability and can be adapted to various environmental situations.