| Gallium-based liquid metal is a new type of intelligent material,which provides a new idea for the construction of flexible and mobile micro robots.Unlike traditional industrial robots,gallium-based liquid metal is used as the driving part of the micro robot which has a smaller size.Its small volume and simple structure play an important role in the construction of micro-factories,medical experiments,and lab on a chip.However,due to the extremely high fluidity and flexibility of liquid metal,it is still a huge challenge to flexibly and stably control the movement of liquid metal.In addition,robots that use liquid metal as a driving component have poor automatic control capabilities and cannot achieve autonomous or controllable motion.Therefore,in this paper,the flexible liquid metal droplets are put in rigid armor to make the movement of the liquid metal droplets more controllable and stable.An armored liquid metal robot is combined with external mechanical devices to realize the transmission of movement in the liquid environment to the outside for a series of operations.Combine an armored liquid metal robot with an external control circuit to build a small intelligent operating platform for micro-miniature operations.First,the driving mechanism of the liquid metal under the electric field is analyzed.Based on the analysis of the formation mechanism of the electric double layer on the surface of the liquid metal,the principle of continuous electrowetting of liquid metal under an electric field is analyzed and the size of Marangoni flow induced by the surface tension gradient is researched.Then analyze the force on the liquid metal robot during the movement process,establish the robot movement model,and analyze the influence factors of the movement.Secondly,the key structure of the liquid metal robot is designed and simulated.The shape and size of the robot's armor are designed in advance,and the appropriate structural parameters are determined.COMSOL Multiphysics is used for simulation analysis,and the basic characteristics of liquid metal droplets under electric field are obtained.The reason for the driving force is also analyzed through simulation.Then,the motion performance of the liquid metal robots are measured through experiments and a cross-medium power transmission experiment is carried out.Through design experiments,the influence of different test conditions on the velocity of liquid metal is explored.The mechanism of the rotation phenomenon during the movement of the liquid metal robot is analyzed.Preliminary application tests were carried out,and a micro-manipulation arm was designed to be used in a robot to realize cross-medium writing and cargo transportation.Finally,the liquid metal robot is combined with the control system to design and build an intelligent micro-operation platform.Design the hardware system and software system of the intelligent micro-operation platform,and test the functions of each part and the overall function.Using the micro-manipulation platform to carry out autonomous trajectory walking and cargo transportation experiments proves that the liquid metal robot has certain trajectory planning and cargo transportation capabilities.The current findings will provide inspiration for the further construction of complex micro-manipulation systems and the realization of complex and precise control. |
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