• 主题
高级搜索  >
历史搜索 清空历史
首页> 美国卫生研究院文献>Micromachines >Design of Microscale Magnetic Tumbling Robots for Locomotion in Multiple Environments and Complex Terrains
【2h】

Design of Microscale Magnetic Tumbling Robots for Locomotion in Multiple Environments and Complex Terrains

机译：在多种环境和复杂地形中运动的微型电磁翻滚机器人的设计

代理获取
本网站仅为用户提供外文OA文献查询和代理获取服务，本网站没有原文。下单后我们将采用程序或人工为您竭诚获取高质量的原文，但由于OA文献来源多样且变更频繁，仍可能出现获取不到、文献不完整或与标题不符等情况，如果获取不到我们将提供退款服务。请知悉。
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

This paper presents several variations of a microscale magnetic tumbling (μTUM) robot capable of traversing complex terrains in dry and wet environments. The robot is fabricated by photolithography techniques and consists of a polymeric body with two sections with embedded magnetic particles aligned at the ends and a middle nonmagnetic bridge section. The robot’s footprint dimensions are 400 μm × 800 μm. Different end geometries are used to test the optimal conditions for low adhesion and increased dynamic response to an actuating external rotating magnetic field. When subjected to a magnetic field as low as 7 mT in dry conditions, this magnetic microrobot is able to operate with a tumbling locomotion mode and translate with speeds of over 60 body lengths/s (48 mm/s) in dry environments and up to 17 body lengths/s (13.6 mm/s) in wet environments. Two different tumbling modes were observed and depend on the alignment of the magnetic particles. A technique was devised to measure the magnetic particle alignment angle relative to the robot’s geometry. Rotational frequency limits were observed experimentally, becoming more prohibitive as environment viscosity increases. The μTUM’s performance was studied when traversing inclined planes (up to 60°), showing promising climbing capabilities in both dry and wet conditions. Maximum open loop straight-line trajectory errors of less than 4% and 2% of the traversal distance in the vertical and horizontal directions, respectively, for the μTUM were observed. Full directional control of μTUM was demonstrated through the traversal of a P-shaped trajectory. Additionally, successful locomotion of the optimized μTUM design over complex terrains was also achieved. By implementing machine vision control and/or embedding of payloads in the middle section of the robot, it is possible in the future to upgrade the current design with computer-optimized mobility through multiple environments and the ability to perform drug delivery tasks for biomedical applications.
机译：本文介绍了能够在干燥和潮湿环境中穿越复杂地形的微型电磁翻滚（μTUM）机器人的几种变体。该机器人是通过光刻技术制造的，由一个聚合物主体和一个中间非磁性桥接部分组成，该聚合物主体的两个部分的末端都嵌入有嵌入的磁性颗粒，这些嵌入的磁性颗粒对齐。机器人的占地面积为400μm×800μm。使用不同的端部几何形状来测试最佳条件，以降低粘附力并增强对外部旋转磁场的动态响应。当在干燥条件下经受低至7 mT的磁场时，该磁性微型机器人能够以滚动运动模式运行，并且在干燥环境中以超过60体长/秒（48 mm / s）的速度平移，最高可达在潮湿环境中为17身长/秒（13.6 mm / s）。观察到两种不同的翻转模式，它们取决于磁性粒子的排列。设计了一种技术来测量相对于机器人几何形状的磁性粒子对准角。通过实验观察到旋转频率极限，随着环境粘度的增加，旋转频率极限变得越来越严格。对μTUM的性能进行了研究，该技术在穿越倾斜平面（最大60°）时表现出了在干燥和潮湿条件下都有希望的爬坡能力。对于μTUM，观察到的最大开环直线轨迹误差分别小于垂直方向和水平方向的遍历距离的4％和2％。通过横穿P形轨迹展示了μTUM的全方向控制。此外，还可以在复杂地形上成功实现优化的μTUM设计的运动。通过在机器人的中间部分实现机器视觉控制和/或将有效载荷嵌入，可以在未来通过多种环境通过计算机优化的移动性以及执行针对生物医学应用的给药任务的能力来升级当前设计。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
代理获取

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号