Multiphysics simulation of magnetically actuated origami robots promises a range of applications such as synthetic data generation, design parameter optimization, predicting the robot's performance, and implementing various control algorithms, but it has rarely been explored. This letter presents a realistic multiphysics simulation of magnetically actuated origami robots with focus on real-time interactions between the origami and magnets. Due to the interaction between multiple magnets, the complex motion dynamics of a worm-like robot are generated and analyzed. We further show the possibility of accurately simulating origami structures made of different materials and permanent magnets of different shapes, sizes, and magnetic strength. The simulation's unknown parameters are determined by conducting similar practical and simulated experiments and comparing their characteristics. Further, we show the close resemblance between the real and simulated behavior of the origami robot.

中文翻译：

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磁动机器人折纸蠕虫的多物理场仿真

磁驱动折纸机器人的多物理场仿真有望实现一系列应用，例如合成数据生成，设计参数优化，预测机器人的性能以及实现各种控制算法，但很少对此进行探索。这封信介绍了磁驱动折纸机器人的逼真的多物理场仿真，重点是折纸和磁体之间的实时交互。由于多个磁体之间的相互作用，产生并分析了蠕虫状机器人的复杂运动动力学。我们进一步展示了精确模拟由不同材料和不同形状，尺寸和磁强度的永磁体制成的折纸结构的可能性。模拟' 通过进行类似的实践和模拟实验并比较它们的特性，可以确定未知参数。此外，我们展示了折纸机器人的真实行为与模拟行为之间的相似之处。