Preparation And Manipulation Of Light-driven Micro-robots Based On Light-cured Manufacturing System

Stimulus-responsive intelligent actuators are capable of converting external energy into certain forms of mechanical motion.It has been widely used in the fields of microelectromechanical systems(MEMS),micro-robots,sensors,and micromechanical devices.In the research of bionic micro-robots,stimulus-responsive soft actuators are receiving more and more attention.Soft actuators can expand the direction of force,and they can achieve gradual modulation,which can increase the degree of freedom of motion.Both light and magnetic fields can be used as non-contact forms of remote control for controlling certain motor behaviors,which have promising applications in micro-robotics and biomedical fields.Hydrogel materials have properties similar to those of biological soft tissues and have been widely used in biomedical and drug screening fields.Carbon material is low cost,easy to obtain,and relatively stable in various properties.It has good photothermal conversion ability and can be well used in the fabrication of photothermal responsive materials.Lightcuring devices based on digital micromirror device have the advantage of fabrication of complex microstructures.The focus and difficulty of this paper is the combination of lightresponsive flexible devices with a form of light-curing fabrication based on digital micromirror devices,which can enable stimulus-responsive microrobots to perform rapid prototyping of complex microstructures.The main results achieved are as follows:(1)A light-curing platform based on digital micromirror devices was designed and built.On the basis of this platform construction,the programmable deformation behavior of hydrogel was studied by combining the idea of 4D printing with the form of PEGDA hydrogel humidity drive,and the produced humidity driven micro-robot has good grasping ability of tiny objects.It provides a good idea for the fabrication of flexible actuators and the control of the deformation behavior of micro-robots.(2)The fabrication of stimulus-responsive hydrogel structures can be formed by a light-curing system.Innovative optimization of the ratio of hydrogel composites has produced PNIPAM hydrogel microstructures with both fast stimulus response capability and rapid molding through the light-curing platform.Under the premise of ensuring the fabrication accuracy and speed,the post-impregnation CNTs can make the composite hydrogel structures with excellent photothermal response to flexible deformation.The ability of photo-responsive composite hydrogel for micro-robotic flexible drive applications is verified by light-driven swimming experiments of bionic jellyfish.(3)A light-driven bionic micro-fish that can grasp tiny objects and perform object transfer tasks has been developed.The near-infrared laser light source can precisely control the bionic arm to swing in any direction in space.The xenon light source can drive the oscillation of the fish tail and the grasping and releasing action of the micromanipulator.The normally closed form of the micromanipulator achieves no continuous energy input during the process of carrying objects to swim.(4)An existing drive form for helicopters was applied to a micro-robot to create an optically controllable variable pitch micro-helical robot.A synthetic light-responsive composite hydrogel with magnetic material encapsulated inside powers the rotation of the micro-propeller robot through a magnetic field generator.Light can change the pitch and make the propeller change different forms of motion.The controllable variable pitch propeller robot provides a novel idea for the design of micro underwater vehicles and micro air vehicles.