Dynamic analysis and active control of hard-magnetic soft materials

摘要

The hard-magnetic soft materials which can sustain high residual magnetic flux density gradually attract the attention of researchers because of potential applications in soft robotics and biomedical fields. In this work, we focus on the dynamic response of hard-magnetic soft materials. The dynamic motion equations are derived by the Euler-Lagrange equation. The effects of the aspect radio on the nonlinear vibration of the hard-magnetic soft cuboid under the force and applied magnetic fields in different directions are investigated. The amplitude-frequency curves demonstrate that the aspect ratio also has an influence on the frequency and amplitude of the primary resonance. Moreover, to eliminate undesired vibration responses, the PID controller is applied to the vibration of the hard-magnetic soft materials, and the desired results can be obtained.