Self-assembly for microrobot manufacturing

点击翻译按钮获取中文摘要

Nature offers spontaneous assembly methods to construct functional 3D compounds through molecular synthesis. Reconstruction of this capability, called self-assembly, at ubiquitous scales opens possibilities for a biochemistry inspired manufacturing method of miniature components and robots. Scales smaller than a centimetre, where it is believed that neither top-down engineering methods nor bottom-up biological methods can efficiently approach, is however the world that is waiting for viable operating methodologies of manufacturing. The underlying engineering challenges are how to coordinate the large degrees of freedom of micro-parts in a distributed manner by (1) recreating the conditions that biomolecules experience at their scales, and by (2) inventing a novel control scheme that can be adopted to the non-molecular domains.The successful development of this technology brings engineering to a new stage on manufacturing; on-demand on-site manufacturing. The promised influence is significant as (1) the scales are where we can find many electronic components, and (2) it shall endow the artefacts the capability to dynamically maintain the structure thus they could achieve biology intrinsic features such as self-repair. For example, it will enable us to develop a micro medical robot that can be assembled and operated in-vivo, and be self-maintained; one swallows multiple pills that contain micro-parts which self-assemble into a robot in the stomach. The robot subsequently carries out treatment tasks such as biopsy or wound treatment, reconfigures into another morphology for different purpose, and disappears through biodegradation.Inspired by biochemical reactions, this project aims to realize a new manufacturing method that offers spontaneous assembly of micro robotic components to synthesize into a robot at sub-cm scales. Towards the goal, the project aims to (1) develop an experimental platform that enables the experiment, (2) derive the design principles of self-assembly of micro-components and construct the theoretical framework, (3) test the model in simulations, (4) design and develop micro components using MEMS techniques, and (5) conduct series of experiments. The entire paradigm, making things in bottom-up is unique in non-biological engineering fields. With respect to self-assembly in robotics and related fields, there have existed two research domains. One uses standard size robots, mostly wheeled, and realize translational coordination through wireless communication and call it self-assembly. The other focuses on the microscale but more about template style self-assembly, similar to the process of fitting eggs in an egg container spontaneously. Our focus is on the scalability to the microscale where electronics cannot be involved. Therefore, the main driving forces are mechanically attained interactions and magnetic force (engaging in more kinematics and physics). Additionally, the assembly style is decentralized component-component interaction. We regard the phenomena as "mechanically attained biochemical reaction". Both the focus on the microscale and the kinematic approach for designing components are unique in the field. The project targets two research domains; a bio-inspired sub-centimetre novel manufacturing method and the application in medicine. The scope of the project lines up with the EPSRC portfolio and will contribute to the themes, Healthcare technologies and Manufacturing the future. The core research focus of synthetizing method, self-assembly, enables the game changing composition process at small scales, and the use in the human body as intelligent robotic structures such as drugs and stents. The project's outcomes will be presented in the fields of engineering, bioengineering, and material science.