Collaborative Research: Magnetically-Controlled Modules with Reconfigurable Self-Assembly and Disassembly

小规模的实时制造面临着独特的挑战。组件必须在内部或靠近现有结构的地方组装，例如动物的血管系统内部，微流体系统内部或焊接的半导体组件周围。该项目将开发一种新的小规模制造方法，具有模块的精度、乐高积木的可重复使用性和DNA的自组装，但这种方法是由外部磁场控制的。现有的可重构模块化系统要么使用复杂的智能子单元，要么速度很慢，通常一次只驱动少量模块。迫切需要鲁棒、可控和高效的方法来克服模块化机器人和可控自重构存在的问题。该合同将设计一种创新的可重构模块化机器人系统，该系统使用可执行的子组件，可以根据命令主动组装或拆卸。模块子单元包含永磁体，并使用由电磁系统产生的外部磁场来驱动。亚单元可以在不同的运动模式下移动，随着亚单元组装成复杂的模块结构，这些运动模式会动态演化。本项目涉及的问题是小型机器人、控制理论、设计与制造、材料科学的交叉领域，具有令人兴奋的基础研究前景，具有广泛的应用潜力。该项目将提供工具和指导方针，这将有助于推进当前和未来的模块化机器人系统。如果成功，这些机器人可用于执行靶向药物输送，改进几种利用支架的医疗保健程序，并扩大微型制造前景，以生产更复杂和动态的系统。该研究项目将理论和实验工作与以下目标相结合：(1)控制)通过高分辨率3D打印技术制造可扩展和磁可控的模块化子单元，并嵌入双极永磁体，以实现磁性的可编程空间变化，从而在单个全局控制输入下在子单元之间创建异构行为；转向部件和组件的设计控制技术；用于拆卸的控制器，（2：应用）操纵模块化子单元来组装插头，封装对象，近似形状和构建脚手架。（3：多路复用）先进的建厂算法，大大加快了模块组装成所需形状和配置的速度。（4：硬件）制造一个可操作的小规模操作原型系统，该系统将集成其他目标的结果，并演示一个3D小规模制造系统。该项目由跨部门机器人基础研究项目支持，由工程（ENG）和计算机与信息科学与工程（CISE）联合管理和资助。该奖项反映了美国国家科学基金会的法定使命，并通过使用基金会的知识价值和更广泛的影响审查标准进行评估，被认为值得支持。

Small scale manufacturing in real-time faces unique challenges. Components must be assembled inside or in close proximity to existing structures, such as inside the vasculature of an animal, inside a microfluidic system, or around soldered semiconductor components. This project will develop a new small-scale manufacturing method with the precision of modules, the reusability of Legos, and the self-assembly of DNA – but one that is controllable by an external magnetic field. Existing reconfigurable modular systems either use complex intelligent subunits, or are slow, usually only actuating a small number of modules at a time. There is an urgent need for robust, controllable, and efficient methods to overcome the existing issues regarding modular robotics and controllable self-reconfiguration. This award will design an innovative reconfigurable modular robotic system that uses actuatable subcomponents that can be actively assembled or disassembled on command. The modular subunits contain permanent magnets and are actuated using external magnetic fields generated by an electromagnetic system. The subunits can be moved in different motion modes that evolve dynamically as subunits assemble into complex modular structures. The issues addressed by this project are at the interface of small-scale robotics, control theory, design & manufacturing, and materials science, and hold exciting prospects for fundamental research with the potential for diverse applications. The project will provide tools and guidelines that will help advance current and future modular robotic systems. If successful, these robots can be used to perform targeted drug delivery, improve several healthcare procedures that utilize stents, and broaden microscale manufacturing prospects to produce more complex and dynamic systems. This research program integrates theoretical and experimental work with the following objectives: (1: Control) Fabricate scalable and magnetically controllable modular subunits through high resolution 3D printing techniques and embed bipolar permanent magnets to enable programmable spatial variation of magnetic properties to create heterogeneous behavior among subunits under a single global control input; design control techniques for steering components and assemblies; controllers for disassembly, (2: Applications) Manipulate modular subunits to assemble plugs, encapsulate objects, approximate shapes, and build scaffolds. (3: Multiplex) Advance algorithms for building factories that greatly speed up the assembly rate of modules into desired shapes and configurations. (4: Hardware) Fabricate an operational small-scale manipulation prototypical system that will integrate the other objectives' results and demonstrate a 3D small-scale fabrication system. This project is supported by the cross-directorate Foundational Research in Robotics program, jointly managed and funded by the Directorates for Engineering (ENG) and Computer and Information Science and Engineering (CISE).This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.