锥形螺旋微机器人的结构设计与三维运动控制

Structural design and three-dimensional motion control of a conical helical microrobot

为模拟微机器人在生物体内执行靶向给药、血管疏通等复杂操作,设计了锥形螺旋微机器人。锥形螺旋微机器人主要由圆柱体头部、锥形螺旋尾部和钕铁硼永磁铁组成。针对锥形螺旋微机器人在低雷诺数液体环境中的三维运动控制需求,基于空间矢量叠加原理设计万向旋转磁场发生装置,通过有限元分析方法对万向旋转磁场发生装置的磁场强度及磁场均匀性进行优化。制作锥形螺旋微机器人,并搭建磁驱动系统,进行锥形螺旋微机器人三维运动控制操控实验,实验结果表明,锥形螺旋微机器人在甘油中的最大运动速度为1 mm/s,能够实现稳定的二维及三维运动控制,并完成穿越迷宫的复杂操作。

A conical helical microrobot was designed to simulate the execution of complex operations such as targeted drug delivery and vascularization in living organisms.The structure of the conical helical microrobot consists of a cylindrical head,a conical helical tail,and a NdFeB permanent magnet.In order to meet the three-dimensional motion control requirements of the conical helical microrobots in low Reynolds number liquid,a universal rotating magnetic field generator was designed based on the principle of superposition of space vectors,and the magnetic field strength and uniformity of the universal rotating magnetic field generator were optimized by the finite element analysis method.A conical helical microrobot was fabricated and a magnetic drive system was constructed to perform the conical helical microrobot three-dimensional motion control experiments.The experimental results show that the maximum swimming velocity is 1 mm/s for conical helical microrobot in glycerol,which is able to realize stable two-dimensional and three-dimensional motion control as well as complete the complex operation of traversing the maze.