Self-assembly for microrobot manufacturing

大自然提供了自发组装方法，通过分子合成构建功能性3D化合物。这种能力的重建，称为自组装，在无处不在的规模打开了一个生物化学启发的微型组件和机器人的制造方法的可能性。小于一厘米的尺度，人们认为自上而下的工程方法和自下而上的生物方法都无法有效地接近，然而，世界正在等待可行的制造操作方法。潜在的工程挑战是如何以分布式方式协调微部件的大自由度，通过（1）重新创建生物分子在其尺度上经历的条件，以及（2）发明一种可用于非分子领域的新型控制方案。该技术的成功开发将工程带到了制造的新阶段：按需现场制造。所承诺的影响是重要的，因为（1）尺度是我们可以找到许多电子元件的地方，以及（2）它将赋予人工制品动态维持结构的能力，因此它们可以实现生物学内在特征，如自我修复。例如，它将使我们能够开发一种微型医疗机器人，可以在体内组装和操作，并自我维护;一个人吞下多个药丸，其中包含在胃中自我组装成机器人的微型部件。该机器人随后执行治疗任务，如活检或伤口治疗，重新配置成另一种形态用于不同的目的，并通过生物降解消失。该项目的灵感来自生化反应，旨在实现一种新的制造方法，提供微型机器人组件的自发组装，以合成亚厘米级的机器人。为此，本项目的目标是（1）开发一个实验平台，使实验，（2）推导出自组装的微组件的设计原理和构建理论框架，（3）在模拟中测试模型，（4）设计和开发微组件使用MEMS技术，和（5）进行一系列实验。整个范例，自下而上制造东西，在非生物工程领域是独一无二的。关于机器人及相关领域的自组装，存在两个研究领域。一种是使用标准尺寸的机器人，主要是轮式机器人，通过无线通信实现平移协调，称之为自组装。另一个侧重于微观尺度，但更多的是关于模板式自组装，类似于自发地将鸡蛋放入鸡蛋容器的过程。我们的重点是可扩展到微尺度的电子不能参与。因此，主要的驱动力是机械获得的相互作用和磁力（参与更多的运动学和物理学）。此外，组装风格是分散的组件-组件交互。我们把这种现象看作是“机械地获得的生化反应”。无论是对微尺度的重点和设计组件的运动学方法是独一无二的领域。该项目针对两个研究领域：生物启发的亚厘米级新制造方法和在医学上的应用。该项目的范围符合EPSRC的产品组合，并将有助于主题，医疗保健技术和制造业的未来。合成方法的核心研究焦点是自组装，它可以在小尺度上改变游戏规则，并在人体中使用智能机器人结构，如药物和支架。该项目的成果将在工程、生物工程和材料科学领域展示。

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.