A fast simulation method for magnetically driven deformation of a sheet micro soft robot

The magnetically driven micro soft robot is a hot research topic in the field of micro robotics. The magnetic torque of each part of the robot rotates with its deformation, so the magnetic torque and magnetic force to which the robot is subjected are difficult to be calculated directly. The lack of physical interfaces for torque distribution in many finite element software reduces the speed and accuracy of calculating the deformation of a robot using finite element simulation methods. In this paper, a fast simulation method to convert the local magnetic torque into equivalent load density for the deformation mode of the sheet micro soft robot is proposed. A finite element model of the fabricated micro soft robot is established, and the deformation and total magnetic moment of the robot under different magnetic field strength and magnetic field gradient are simulated and calculated. Experiments are executed to verify the validity of the simulation results.