磁性板状水凝机器人具有多种运动模式和组装行为.
Jingzhe Liu1, Xi Chen1, Chenyao Tian1
1State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, 2 Yikuang, Harbin 150080, China. haoz@hit.edu.cn.
Soft matter
|October 13, 2025
概括
可生物降解的磁性微机器人 (MSHRs) 为生物医学任务提供无线,精确的控制. 这些机器人表现出多式交通和集体行为,提高了它们在复杂环境中的适应性和性能.
科学领域:
- 生物医学工程 生物医学工程
- 材料科学 材料科学 材料科学
- 机器人技术 机器人技术 机器人技术
背景情况:
- 微机器人提供无线操纵,在狭窄的生物医学环境中执行精确的任务.
- 目前的微机器人面临着跨越障碍物,移动模式和生物相容性方面的挑战.
研究的目的:
- 开发一种可生物降解的磁性板状水凝机器人 (MSHR),具有增强的运动和控制能力.
- 调查MSHRs的多式联动运动能力和集体行为.
主要方法:
- 使用简单的挤出工艺制造MSHR.
- 描述四种不同的运动模式:,滚动,旋转和行走.
- 研究MSHR组装到二维结构及其运动性能.
- 实施视觉引导的路径跟踪控制策略.
主要成果:
- MSHRs在四种稳定运动模式之间展示了灵活的转换.
- 与个人机器人相比,Dimeric MSHRs显示出更好的运动和跨越障碍的能力.
- 视觉引导的控制使单个和二维MSHR的精确路径跟踪成为可能.
结论:
- 开发的MSHR提供多式联动运动,稳定的集体行为和精确的运动控制.
- 这些能力为生物医学应用提供了创新解决方案,如向药物输送和微创手术.
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