Design, Fabrication, and Characterization of a Helical Adaptive Multi-Material MicroRobot (HAMMR)
Design, Fabrication, and Characterization of a Helical Adaptive Multi-Material MicroRobot (HAMMR)
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DOI：
10.1109/lra.2023.3242164
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发表时间：
2023-03
影响因子：
5.2
通讯作者：
Liyuan Tan;D. Cappelleri
中科院分区：
文献类型：
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作者：
Liyuan Tan;D. Cappelleri
自适应运动是微型机器人的一种高级功能，可以使用智能材料实现。本文将响应性水凝胶作为一种智能材料，用于制造具有可变形尾巴的螺旋自适应多材料微型机器人(HAMMR)，以实现自适应运动能力。此外，还提出了一种新的制造方法，利用强磁头和可变形的尾巴来实现这类具有增强游泳性能的螺旋形微型机器人。在不同的溶剂中测试了不同尾部设计和制作的微型机器人的变形情况。对微型机器人在旋转磁场作用下的游泳性能进行了实验研究，并进行了理论计算验证。HAMMR在刺激下表现出明显的变形和游泳成绩的变化，这与定标计算结果一致。最后，HAMMR为自适应游泳微型机器人提供了增强的机动性，公布了最高的平移速度，体长为每秒8.1。
Adaptive locomotion is an advanced function of microrobots that can be achieved using smart materials. In this letter, a responsive hydrogel is utilized as a smart material and used to fabricate Helical Adaptive Multi-material MicroRobots (HAMMRs) with deformable tails to achieve adaptive locomotion capabilities. Moreover, a novel fabrication method is proposed to realize these types of helical microrobots with enhanced swimming performances by taking advantage of a strong magnetic head and deformable tail. The deformations of different tail designs and the fabricated microrobots are tested in different solvents. The swimming performances of the swimming microrobots are investigated experimentally under a rotating magnetic field and verified with theoretical calculations. The HAMMRs show significant deformations upon stimulation and changes in swimming performance which are in agreement with the scaled calculation result. Finally, the HAMMRs present an enhanced mobility with a highest published translational velocity for an adaptive swimming microrobot of 8.1 body length per second.