Self-assembly for microrobot manufacturing

自然提供自发组装方法，通过分子合成构建功能三维化合物。这种被称为自组装的能力的重建，在无处不在的尺度上，为生物化学启发的微型部件和机器人的制造方法提供了可能性。小于一厘米的尺度，人们认为无论是自上而下的工程方法还是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，方法是：(1)重新创造生物分子在其尺度上所经历的条件，以及(2)发明一种可用于非分子域的新型控制方案。该技术的成功开发使工程制造进入了一个新的阶段；按需现场制造。承诺的影响是显著的，因为(1)尺度是我们可以找到许多电子元件的地方，(2)它将赋予人工制品动态维持结构的能力，从而使它们能够实现生物固有的特征，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，并且可以自我维护；一个人吞下多个含有微型部件的药丸，这些部件可以在胃里自我组装成一个机器人。机器人随后执行活检或伤口治疗等治疗任务，重新配置为不同目的的另一种形态，并通过生物降解消失。受生物化学反应的启发，该项目旨在实现一种新的制造方法，该方法可以自动组装微型机器人部件，从而合成出亚厘米级的机器人。为了实现这一目标，本项目旨在(1)开发实验平台，(2)推导微元件自组装的设计原理并构建理论框架，(3)在仿真中测试模型，(4)利用MEMS技术设计和开发微元件，(5)进行一系列实验。整个范例，自下而上地制造东西在非生物工程领域是独一无二的。关于机器人及其相关领域的自组装问题，目前存在两个研究领域。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，并称之为自组装。另一种方法侧重于微观尺度，但更多的是模板式的自组装，类似于将鸡蛋自动装入鸡蛋容器的过程。我们的重点是可扩展性到微电子不能涉及的尺度。因此，主要驱动力是机械获得的相互作用和磁力（涉及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“机械获得的生化反应”。无论是对微观尺度的关注，还是设计部件的运动学方法，在该领域都是独一无二的。该项目针对两个研究领域；仿生亚厘米新型制造方法及其在医学上的应用。该项目的范围与EPSRC的投资组合一致，并将为主题“医疗保健技术和制造业的未来”做出贡献。合成方法的核心研究重点是自组装，可以在小尺度上改变游戏规则的合成过程，并在人体中用作药物和支架等智能机器人结构。该项目的成果将在工程、生物工程和材料科学领域发表。

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.