NRI: FND: Light-Powered Microrobots for Future MIcrofactories

NRI：FND：未来微型工厂的光动力微型机器人

• 批准号: 1734383
• 负责人: Dan Popa
• 金额: $ 74.73万
• 依托单位: University of Louisville Research Foundation Inc
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2017
• 资助国家: 美国
• 起止时间: 2017-09-01 至 2021-08-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1734383&HistoricalAwards=false
• 关键词: NRI; FND; Light; Powered; Microrobots

The goal of this project is to use focused laser light as a method for powering and remotely controlling millimeter-sized manufacturing microrobots suitable for fabricating and assembling even smaller devices. Swarms of multi-legged, light-driven microrobots, capable of operation in either dry or wet environments, will be built and studied. This project will pave the way for the microfactories of the future, enabling the production of nanopositioning and nanotransport devices with applications to nanomanufacturing and biotechnology. Microrobots have long been envisioned as a gateway for full human telepresence at the micro- and nanoscales, where conventional tools cannot be used for manipulation or assembly. Potential outcomes of this project include unprecedented manufacturing capabilities in nano- and biotechnology, leading to new opportunities for US industry.The research objective of this project is to study novel and efficient light-based wireless energy transfer and control methods for collectives of microrobots that can accomplish precision nano-scale positioning and manipulation tasks. The project will provide fundamental new knowledge for programming multi-actuator locomotors with a single light source, using differential responses of the robot limbs to generate multi-legged gaits. The project will create new photo-thermo-dynamic robot models, and new learning control algorithms suitable for physical inter-robot cooperation. To validate the models and control schemes, a unique hardware infrastructure will be prototyped and experimentally demonstrated to drive and test two types of light-powered microrobots. The first type of light-powered microrobot, called "Micro-laser-hopper," is an untethered microrobot with flexure legs that can accomplish controlled stick-slip crawling over a dry surface using a single, large diameter laser beam source. Micro-laser-hopper gait is controlled by changing temporal laser parameters, such as intensity, pulse frequency and duty cycle. The second type of light-powered microrobot, called "Micro-solar-one," is an integrated microrobot containing a solar cell, in-plane microactuators, microassembled legs, and a vertical electronic backpack. Micro-solar-one is powered by concentrated, broad spectrum white light, and is able to store and execute complex gaits, at the expense of more complex manufacturing and thermal management challenges.

该项目的目标是使用聚焦激光作为一种方法来为毫米级制造微型机器人提供动力和远程控制，这些机器人适用于制造和组装更小的设备。将建造和研究能够在干燥或潮湿环境中运行的多足光驱动微型机器人群。该项目将为未来的微型工厂铺平道路，实现纳米定位和纳米传输设备的生产，并应用于纳米制造和生物技术。长期以来，微型机器人一直被设想为在微米和纳米尺度上实现人类远程呈现的网关，而传统工具无法在这些尺度上进行操作或组装。该项目的潜在成果包括纳米和生物技术方面前所未有的制造能力，为美国工业带来新的机遇。该项目的研究目标是研究新型、高效的基于光的无线能量传输和控制方法，用于微型机器人群体，这些方法可以完成精密纳米级定位和操纵任务。该项目将为使用单一光源的多执行器运动电机编程提供基础的新知识，利用机器人肢体的差异响应来生成多腿步态。该项目将创建新的光热动力机器人模型，以及适合物理机器人间合作的新学习控制算法。为了验证模型和控制方案，将制作独特的硬件基础设施原型并进行实验演示，以驱动和测试两种类型的光动力微型机器人。第一种类型的光动力微型机器人被称为“微型激光料斗”，是一种带有弯曲腿的不受束缚的微型机器人，可以使用单个大直径激光束源在干燥表面上实现受控的粘滑爬行。微激光跳跃步态是通过改变时间激光参数来控制的，例如强度、脉冲频率和占空比。第二种类型的光动力微型机器人称为“Micro-solar-one”，是一种集成微型机器人，包含太阳能电池、面内微执行器、微组装腿和垂直电子背包。微型太阳能一号由集中的广谱白光提供动力，能够存储和执行复杂的步态，但代价是更复杂的制造和热管理挑战。

项目成果

Tracking Experiments with ChevBot: A Laser-Actuated Stick-Slip Microrobot

使用 ChevBot 跟踪实验：激光驱动的粘滑微型机器人

• DOI: 10.1109/marss.2019.8860947
• 发表时间: 2019
• 期刊: Automation and Robotics at Small Scales (MARSS
• 作者: Zhang, Ruoshi;Sherehiy, Andriy;Wei, Danming;Yang, Zhong;Saadatzi, M. Nasser;Popa, Dan O.
• 通讯作者: Popa, Dan O.

SolarPede: a stick-and-slip, light-powered, Mobile micro-crawler

• DOI: 10.1007/s12213-020-00131-6
• 发表时间: 2020-06
• 期刊: Journal of Micro-Bio Robotics
• 影响因子: 2.3
• 作者: Ruoshi Zhang;Jordan F. Klotz;Danming Wei;Zhong Yang;A. Sherehiy;M. Saadatzi;D. Popa

Design, Fabrication and Experimental Validation of a Steerable, Laser-Driven Microrobot in Dry Environments

• DOI: 10.1109/case48305.2020.9216958
• 发表时间: 2020-08
• 期刊: 2020 IEEE 16th International Conference on Automation Science and Engineering (CASE)
• 作者: Zhong Yang;A. Sherehiy;S. Chowdhury;Danming Wei;Ruoshi Zhang;D. Popa

Design and Evaluation of Human-Machine Interface for NEXUS: A Custom Microassembly System

NEXUS 人机界面的设计和评估：定制微装配系统

• DOI: 10.1115/msec2020-8477
• 发表时间: 2020
• 期刊: 14th International Conference on Micro- and Nanosystems (MNS
• 作者: Wei, Danming;Hall, Mariah B.;Sherehiy, Andriy;Kumar Das, Sumit;Popa, Dan O.
• 通讯作者: Popa, Dan O.

Multiphysics Dynamic Model Validation Methodology for Laser-Driven Microrobots

• DOI: 10.1109/coase.2019.8843032
• 发表时间: 2019-08
• 期刊: 2019 IEEE 15th International Conference on Automation Science and Engineering (CASE)
• 作者: Zhong Yang;M. Saadatzi;Ruoshi Zhang;A. Sherehiy;Danming Wei;C. Harnett;D. Popa