Design and Control of Microscale Dual Locomotion Mode Multi-Functional Robots (μDMMFs)
Design and Control of Microscale Dual Locomotion Mode Multi-Functional Robots (μDMMFs)
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DOI：
10.1109/iros55552.2023.10341659
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发表时间：
2023-10
期刊：
影响因子：
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通讯作者：
Aaron C. Davis;D. Cappelleri
中科院分区：
文献类型：
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作者：
Aaron C. Davis;D. Cappelleri
本文介绍了一种新型微机器人的设计和控制，该机器人采用两种不同的磁运动方式，即旋转和梯度场控制相结合的方式，利用多个末端执行器来实现对微对象的精确操纵。旋转磁场诱导翻滚运动模式，以提高运动速度，并减少与粗糙表面上的粘滞和运动相关的问题。梯度场控制允许使用末端效应器进行精确操纵，末端效应器包括用于分割对象组的尖端和用于推动或捕获对象的钝端。微型机器人使用双光子聚合3D打印机制造，允许精确复制复杂的几何和设计。讨论了这项技术在医学领域的潜在应用，突出了体外细胞操作的潜力。
This paper presents the design and control of a novel microrobot that utilizes two distinct magnetic locomotion methods, a combination of rotating and gradient field control, for precise micro-object manipulation using multiple end-effectors. Rotating magnetic fields induce a tumbling locomotion mode to increase the movement speed and decrease issues associated with stiction and locomotion over rough surfaces. The gradient field control allows for precise manipulation using the end-effectors, which include a pointed tip for splitting groups of objects and a blunt end for pushing or capturing objects. The microrobot is fabricated using a two-photon polymerization 3D printer, allowing for the precise reproduction of complex geometries and designs. The potential applications of this technology in the medical field are discussed, highlighting the potential for in vitro cellular manipulation.