Multiphysics Dynamic Model Validation Methodology for Laser-Driven Microrobots
Multiphysics Dynamic Model Validation Methodology for Laser-Driven Microrobots
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DOI：
10.1109/coase.2019.8843032
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发表时间：
2019-08
期刊：
影响因子：
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通讯作者：
Zhong Yang;M. Saadatzi;Ruoshi Zhang;A. Sherehiy;Danming Wei;C. Harnett;D. Popa
中科院分区：
文献类型：
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作者：
Zhong Yang;M. Saadatzi;Ruoshi Zhang;A. Sherehiy;Danming Wei;C. Harnett;D. Popa
在本文中，我们讨论了一种经过实验验证的综合多物理场建模和仿真方法，旨在了解激光驱动的微型机器人在二维 (2D) 基底上运动的行为。 ChevBot 是一种新型的光驱动亚毫米微型机器人，可以执行相当于未来纳米生物技术微型工厂中移动机器人的任务。机器人动力学由复杂的光热机械转换机构和粘滑运动驱动，难以模拟。因此，提出了一维和二维降阶模型来近似微型机器人动力学。然后结合有限元分析模拟和直接实验来验证模型。这里介绍的框架自动执行从微型机器人收集运动跟踪数据的过程，并用它来验证动态模型。未来，我们的模型可以用于后续的闭环控制和设计优化研究。
In this paper we discuss a comprehensive multiphysics modeling and simulation approach with experimental validation, aimed at understanding the behavior of laser-driven microrobot locomotion on two-dimensional (2D) substrates. The ChevBot is a novel class of light actuated sub-millimetric microrobots that can perform tasks equivalent to mobile robots in future microfactories for nano-bio-technology. The robot dynamics is driven by a complex Opto-Thermo-Mechanical conversion mechanism and stick-and-slip locomotion, which are difficult to simulate. Therefore, 1D and 2D reduced order models are proposed to approximate the microrobot dynamics. Models are then validated using a combination of Finite Element Analysis simulations and direct experimentation. The framework presented here automates the process of collecting motion tracking data from microrobots and uses it to validate dynamic models. In the future, our models can be used in subsequent closed-loop control and design optimization studies.