Design And Experimental Study Of A Dual Micro-body Manipulation System Based On An Acoustic Potential Well

Acoustic levitation is a cutting-edge technology that uses acoustic waves to achieve non-contact manipulation,with the advantages of no material limitation and good levitation performance.It has gained wide attention in material processing,biomedical,chemical,and pharmaceutical fields.However,the currently commonly used standing wave levitation method only binds the object to the standing wave node,resulting in a lack of flexibility in its manipulation.Therefore,this paper uses array ultrasound to construct a stable and controllable acoustic potential well.And its levitation and manipulation performance is verified from simulation and experimental perspectives.Finally,this paper achieves the movement and aggregation of double micro-body.The main research contents of this paper are briefly described as follows:(1)Research on the mechanism of three-dimensional regulation of spatial acoustic potential well based on array ultrasound.In this paper,the three-dimensional acoustic wave equation is derived from the three basic equations of sound propagation in an ideal fluid medium.Starting from the basic principle of acoustic levitation,the mechanism of the generation of acoustic radiation force is analyzed and a theoretical derivation of Gor’kov potential is made.We have obtained a spatial sound field model for array ultrasound based on the single column acoustic wave propagation model and the acoustic wave interference principle.From the perspective of generating an acoustic potential trap,this paper describes the suspension point as a convergence point of acoustic radiation force,constructs a mathematical model between the suspension point and the acoustic phase,and further elaborates the mechanism of suspension movement manipulation.From the perspective of generating an acoustic potential trap,this paper describes the suspension point as a convergence point of acoustic radiation force,constructs a mathematical model between the suspension point and the acoustic phase,and further elaborates the mechanism of suspension movement manipulation.(2)Acoustic field simulation study of dual micro-body manipulation and convergence.First,the solution of the phase data is implemented using the BFGS algorithm and integrated into the ROS system.Then,this paper establishes simulation models in COMSOL software and performs acoustic field simulation analysis for different phase parameters to obtain the optimal ultrasonic phased array size parameters.Meanwhile,by comparing the sound field distribution characteristics,the “tile-like”potential well structure produced in this paper has better levitation performance at the levitation point.Based on the single potential well,two potential well points are generated separately by grouping the ultrasonic transducer units in the phased array.Finally,the effect of the double "tile" potential well structure on the aggregation of suspended matter is analysed by simulating the sound field characteristics of the double "tile" potential well structure when they are in close proximity to each other.(3)Experimental study of dual micro-body manipulation system.By establishing phasecontrolled timing logic,the phased array acoustic emission is guaranteed to achieve fast response and phase accuracy.Then,the ultrasonic driver circuit was designed to amplify the phase-control signal,drive the transducer to work,and complete the multi-channel ultrasonic phased array.Finally,a complete prototype of the dual micro-body maneuvering system was built,and multi-location point hovering accuracy tests,hovering capability tests,single-step,and continuous movement tests,and dual micro-body maneuvering tests were conducted.The experiments show that the micro-body manipulation system designed in this paper is able to generate potential wells accurately near the desired levitation point and manipulate the levitation and movement of the object,and that the manipulation of the movement and aggregation of the double micro-body is accomplished.