单片集成自装配微爬行机器人研究

Research on Monolithic Integrated Self-assembly Micro Crawling Robot

面向微机器人未来在地外探测上的潜在应用,设计了一种总重24 g、整机尺寸93×71×36.14 mm的自装配微爬行机器人。基于形状记忆聚合物材料的热致形状记忆效应,设计分析了自折叠铰链结构,实现了结构从平面形态到三维形态的自动折叠装配,并在此基础上开展了单片集成自装配为爬行机器人的系统设计与加工测试。基于单片集成一体设计方法,将具有多材质、多器件的微机器人设计为单片平面一体化自装配结构;基于变胞原理,将平面一体化结构进行空间折叠,形成具有三维特征的机体结构和柔顺运动机构,继而通过标准平面成形工艺实现微机器人的加工制造。该微爬行机器人表现出较好的结构和运动性能,整机可在30 s内完成自动折叠装配到三维结构形态,爬行运动速度为20 cm/s,能承受6.2 N的静态结构负载和6G过载,验证了单片集成一体化自装配设计研制分米—厘米尺度下的微机器人的技术实现能力。

Aiming at the potential application of micro-robot in the future, a self-assembled micro-crawling robot, with a total weight of 24 g and a total size of 93 × 71 × 36. 14 mm, was designed.Based on the shape-memory polymer material’ s thermo-induced shape memory effect design, theself-folding hinge structure was analyzed, and the automatic folding assembly of the structure fromplanar shape to three-dimensional shape was realized. Then a system of monolithic integrated self-as-sembly micro crawling robot is designed, fabricated and tested. Based on the monolithic integrateddesign method, the micro-robot with multi-material and multi-device was designed as a monolithicplanar self-assembly structure. The planar integrated structure was spatially folded based on theprinciple of metamorphosis to form a three-dimensional structure and motion mechanisms. The mi-cro-robot was fabricated through standard planar manufacturing process. The micro crawling robotexhibited better structure and motion performance. The whole machine could automatically fold andassembled into a 3D structure within 30 s. The crawling speed was 20cm/ s, while the robot couldwithstand 6.2 N static structural load and 6G overload acceleration. It effectively validated the tech-nology realization capability of the monolithic integrated self-assembly design to develop the micro ro-bot at the centimeter-cm scale.