窦斌宏,陶然,王兆一,李兵,郝崇磊.基于多相界面的小尺度磁控仿生机器人研究进展[J].表面技术,2021,50(8):51-65.
DOU Bin-hong,TAO Ran,WANG Zhao-yi,LI Bing,HAO Chong-lei.Recent Progress in Small-scale Magnetic Controlled Bioinspired Robots Based on Multiphase Interfaces[J].Surface Technology,2021,50(8):51-65 |
| 基于多相界面的小尺度磁控仿生机器人研究进展 |
| Recent Progress in Small-scale Magnetic Controlled Bioinspired Robots Based on Multiphase Interfaces |
| 投稿时间：2021-04-21 修订日期：2021-07-14 |
| DOI：10.16490/j.cnki.issn.1001-3660.2021.08.005 |
| 中文关键词: 多相界面 仿生工程 磁控机器人 制备工艺 控制方法 |
| 英文关键词:multiphase interface bio-inspired engineering magnetic robot fabrication control method |
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| Author | Institution |
| DOU Bin-hong | School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen 518055, China |
| TAO Ran | School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen 518055, China |
| WANG Zhao-yi | School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen 518055, China |
| LI Bing | School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen 518055, China |
| HAO Chong-lei | School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen 518055, China |
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| 中文摘要: |
| 小尺度机器人能够在狭窄的空间内运动并完成微操作，在生物医学工程(如药物靶向递送、微创手术)、环境保护、灾难救援等领域具有重要意义。以仿生工程为起点，综述了在液-气界面、固-液界面、固-气界面运动的昆虫及其他小型动物的界面行为，分析发现了这些行为的机理，发现润湿、动态粘附、可调节的各向异性摩擦等性质对小型动物的运动特性具有决定性作用，归纳总结了小型动物的界面行为在机器人小型化过程中潜在的利用价值。围绕小尺度磁控机器人，重点阐述了其运动机理、制备技术以及控制方法。其中，磁控机器人的运动机理主要包括磁梯度推进、螺旋推进以及摆动推进等。光刻技术、3D打印以及模具成型方法被广泛研究和使用，其中3D打印技术在小尺度磁控机器人制备中越来越重要。机器人的控制方法根据是否建模，可分为有模型和无模型的控制方法。最后，结合提出的生物启发灵感，分析了机器人在表面优化、形态设计、加工制备等方面潜在的创新空间，并对通过界面技术提升磁控机器人运动性能的愿景进行了展望。 |
| 英文摘要: |
| Small-scale robots can locomote in a restricted workspace and complete micro-operations, which are of great significance in the fields of biomedical engineering (such as targeted drug delivery, minimally invasive surgery), environmental protection, and rescue. Starting from the biomimetic engineering, the interfacial behaviors of insects and other small-scale animals locomoting at the liquid-vapor, solid-liquid was summarized, and solid-vapor interfaces, analyzed the mechanism of these behaviors, and it was found that wetting, dynamic adhesion, adjustable anisotropic friction and other properties related to interfaces play a key role in the locomotion characteristics of small animals. The potential value of these interface behaviors of small animals in the process of miniaturization of robots is summarized. Moreover, focusing on small-scale magnetic robots, their locomotion mechanism, micro/nano-manufacturing technology and control methods was highlighted. The locomotion mechanisms of magnetic robots mainly include magnetic gradient propulsion, spiral propulsion, swing propulsion and etc. Micro/nano-manufacturing technology such as photolithography, 3D printing, and molding methods are extensively studied, among which 3D printing technology is becoming more and more important in the preparation of small-scale magnetic robots. The control methods of robots can be divided into modeled and model-free control methods according to whether they are modeled or not. Finally, combined with the biological inspirations, the robot's potential innovation points from the perspective of surface optimization, shape design, manufacturing are discussed, and the vision of improving the locomotion performance of future magnetic robots through interface engineering is prospected. |
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