Research On Micro/nano Robots System Driven By Multiphysics

Micro/nano robots can be widely used in the fields of biomedicine,environmental monitoring,and micro/nano manufacturing.Micro/nano robots belong to the micro-nano scale,which is difficult to control and apply.In order to improve the load capacity and controllability of micro/nano robots,it is urgent to carry out research on external physical field drive and group behavior of micro/nano robots.At present,the movement control of the micro/nano robots mainly depends on a single external physical field.However,under the control of a single external physics field,the motion adaptability and flexibility of micro/nano robots in complex microenvironments are limited.Combined with the control characteristics of different external physical fields,the multiphysics field research of micro/nano robots can give full play to the control flexibility of micro/nano robots.Therefore,the development of the corresponding multiphysics field drive platform and the research on multiphysics field drive of micro/nano robots scan not only lay the foundation for the motion control experiment of micro/nano robots,but also have important significance for expanding the application scope of micro/nano robots and improving the control efficiency.This paper uses a combination of theoretical derivation,simulation analysis and experimental research to establish a multiphysics field driving platform for micro/nano robots,and further establishes the driving model of micro/nano robots under the action of electric field,ultrasonic field and magnetic field,according to the theoretical model.And carry out micro/nano robots drive experimental research and group behavior theory and experimental research.First of all,the micro/nano robots with multiphysics field driving ability was prepared,and the driving theory of the micro/nano robots was studied under electric field,ultrasonic field and magnetic field.The energy field parameters needed for driving the micro/nano robots driven by multiphysics field were carried out through simulation analysis,and the influence of the characteristic parameters of physical field on the movement of the micro/nano robots was studied.Secondly,a driving platform theoretical model of electric field,ultrasonic field and magnetic field is established,and a driving device with three driving fields is developed through theoretical derivation and simulation calculation.Meanwhile,the hardware and software resources of the three are integrated to realize the combination of physical field in space,and a driving system platform based on electric field,ultrasonic field and magnetic field is developed to provide basic support for the experimental research of micro/nano robots.Finally,the motion behavior of micro/nano robots under the action of electric field,ultrasonic field and magnetic field is studied experimentally.At the same time,theoretical research is carried out on the reunion behavior of micro/nano robots under the action of ultrasonic field and the cluster behavior of micro/nano robots under the action of magnetic field,and experimental research is carried out on the ultrasonic field reunion and magnetic field cluster behavior of micro-nano robots based on the multiphysics field driving platform.