Magnetic driving device of small-scale magnetic soft robot

The invention discloses a magnetic driving device of a small-scale magnetic soft robot. The magnetic driving device comprises a Helmholtz coil system, a rotary table system and a motion platform. The Helmholtz coil system is used for generating a uniform magnetic field and at least comprises a first Helmholtz coil and a second Helmholtz coil, the axial direction of the first Helmholtz coil is in a first direction, the axial direction of the second Helmholtz coil is in a second direction, and the first direction is perpendicular to the second direction. The axial direction of the first Helmholtz coil is intersected with the axis of the second Helmholtz coil; the rotary table system is used for controlling the Helmholtz coil system to rotate along a first direction or a second direction so as to generate a three-dimensional magnetic field space; the motion platform is located in the three-dimensional magnetic field space, and the magnetic soft robot is placed on the motion platform; and the motion platform is u