Kinematics Research Of Micro-robots Based On High Polymer

The combination of engineering methods and medical ideas is the trend of the future development of medical equipment,and medical assistant robot is one of the representative products of above idea.The concept of micro-robots came into being as advances in engineering,which also made it possible for robots to be made from materials with low Young's modulus and greatly reduce their size at the same time.The appearance of micro-robots provides a certain basis for the application of robot in clinical treatment.Micro-robots have the characteristics of small size and diversified functions.Compared with the traditional treatment methods,they could relieve the pain of patients significantly and reduce the physical requirements of patients to receive treatment.Therefore,they have huge application prospect in clinical treatment.However,there is still a long way to go before practical application of micro-robots in clinical treatment.At present,the research on micro-robots focuses on the aspects of manufacturing technology,materials and motion performance.Making the material property and self-function of the micro-robots to meet the required conditions for movement in the complex humoral environment has become the standard whether the micro-robot could enter the biological body.Aiming at the problem above,this paper puts forward applying increasing material manufacturing technology to manufacturing process of micro-robots.Besides,different structures of the micro-robots were designed and simulations of different structures movement of micro swimming robot in liquid environment were calculated.According to research results,using increasing manufacturing technology to make tiny robots and drive response experiments.This paper focuses on the following aspects of polymer micro-robots:(1)Digital Light Processing(DLP)technology is proposed for the printing of polymer micro-robots,and a light curing printing platform for the printing of micro-nano structures is developed independently.The performance of various intelligent hydrogels was compared.Based on the formulation of temperature-responsive hydrogel,photothermal carbon nanotubes were introduced to achieve the photo responsive hydrogel structure and complete the mixing of materials.The printing parameters of the platform were adjusted to complete the printing molding of materials with different proportions,which provides a new fabrication method of micro-robots.(2)Exploring the influence of the shape of the micro-robots on the motion result of the micro-robots.The morphology of the polymer micro-robot is the driven configuration after the force is generated at the light-controlled site,which determines the angle of pulling ciliary sliding caused by temperature rise after each irradiation,thus directly affecting the displacement.By simplifying the model and motion conditions,the simulation was carried out in finite element simulation software.On the basis above,the shape of the micro-robots was adjusted and improved continuously,and optimized simulation model is used to make it produce non-reciprocating motion and effective absolute displacement,which has theoretical significance for the movement of the micro-robots at low Reynolds number.(3)Light control driving platform is developed according to the motion characteristics of the micro-robots,and the driving mechanism of the micro-robot is studied.After the polymer micro-robots were printed,the choice of photocontrol site determines the driving position,and the driving position directly determines the size of the deformation force.There are two kinds of light sources: local light source and global light source.Local light source irradiates specific parts of the micro-robot to produce response.Global light source illuminates the whole robot,while local injection of a photothermal material makes only local areas containing photothermal materials respond.This provides a solution for the micro-robot to be drived under the condition that the precise light source could not be realized.