3-D swimming microdrone powered by acoustic bubbles
3-D swimming microdrone powered by acoustic bubbles
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DOI：
10.1039/d0lc00976h
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发表时间：
2021-01-21
期刊：
影响因子：
6.1
通讯作者：
Cho, Sung Kwon
中科院分区：
文献类型：
--
作者：
Liu, Fang-Wei;Cho, Sung Kwon
在液体环境中操纵并在人体内导航的移动微型机器人因其作为体内货物在医疗用途中的可能性而引起了人们的极大兴趣。对于该系统，有效的自推进方法至关重要，该方法应无线供电且在 3D 空间中可控。本文介绍了一种由气泡驱动的游泳微型无人机，它可以以受控方式在 3D 空间中导航。为了实现具有转向能力的 3D 推进，三个长度的气泡被捕获在微管中，这些微管嵌入无人机体内并使用双光子聚合在无人机体内进行三维排列。当这些气泡以其各自的共振频率（取决于气泡尺寸）选择性地被激发时，它们可以通过微流产生按需的 3D 推进力。为了使无人机具有高度稳定的机动性，无人机机身的非均匀质量分布经过精心设计，可以使无人机在受到干扰时自发恢复到直立位置。开发了恢复机制的数学模型来预测恢复行为，显示出与实验数据的良好一致性。目前的游泳微型无人机有可能成为强大的 3D 可操纵微型移动货物，在生物医学应用的体外和体内导航。
Mobile microrobots that maneuver in liquid environments and navigate inside the human body have drawn a great interest due to their possibility for medical uses serving as an in vivo cargo. For this system, the effective self-propelling method, which should be powered wirelessly and controllable in 3-D space, is of paramount importance. This article describes a bubble-powered swimming microdrone that can navigate in 3-D space in a controlled manner. To enable 3-D propulsion with steering capability, air bubbles of three lengths are trapped in microtubes that are embedded and three-dimensionally aligned inside the drone body using two-photon polymerization. These bubbles can generate on-demand 3-D propulsion through microstreaming when they are selectively excited at their individual resonance frequencies that depend on the bubble sizes. In order to equip the drone with highly stable maneuverability, a non-uniform mass distribution of the drone body is carefully designed to spontaneously restore the drone to the upright position from disturbances. A mathematical model of the restoration mechanism is developed to predict the restoration behavior showing a good agreement with the experimental data. The present swimming microdrone potentially lends itself to a robust 3-D maneuverable microscale mobile cargo navigating in vitro and in vivo for biomedical applications.