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Reconfigurable modular micro-robot and preparation method thereof

A micro-robot, modular technology, applied in the direction of micro-manipulators, manipulators, manufacturing tools, etc., can solve the problem of increasing costs, not having a multi-functional braking system, and limiting the environmental adaptability of synthetic micro-robots. And other issues

Active Publication Date: 2018-04-27
FUDAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, limited by the immature preparation methods in the micro system, the motion controllability that can be achieved by synthesizing a relatively simple chemical structure needs to be improved, and there is no way to further form a more complex and multi-functional braking system by assembly means in the later stage. the potential
These problems greatly limit the environmental adaptability and adjustability of synthetic micro-robots to various usage scenarios, and increase the cost of preparation and maintenance of corresponding micro-braking systems.

Method used

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  • Reconfigurable modular micro-robot and preparation method thereof
  • Reconfigurable modular micro-robot and preparation method thereof
  • Reconfigurable modular micro-robot and preparation method thereof

Examples

Experimental program
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Effect test

Embodiment 1

[0033] (1) Preparation of oriented carbon nanotube fibers: the oriented multi-walled carbon nanotube film is directly pulled out from the spinnable multi-walled carbon nanotube array with a width of 7 mm by a blade, and the spinning machine is used at 800 rpm Under the rotating speed, wrap it into oriented multi-walled carbon nanotube fibers, drop-coat ethanol solution along the fiber axis, and dry at room temperature for 2 hours to obtain oriented oriented multi-walled carbon nanotube fibers;

[0034] (2) Preparation of fibrous micro-robot assembly unit with asymmetric modification of platinum nanoparticles: configure an electrolyte solution containing 1 mmol per liter of potassium chloroplatinate and 0.1 mol per liter of potassium chloride, and use a three-electrode system for electrochemical deposition on Oriented multi-wall carbon nanotube fibers show off modified platinum nanoparticles; the working electrode is a carbon nanotube fiber with a diameter of 50 microns and a le...

Embodiment 2

[0037] (1) Preparation of oriented carbon nanotube fibers: the oriented multi-walled carbon nanotube film is directly pulled out from the spinnable multi-walled carbon nanotube array with a width of 8 mm by a blade, and the spinning machine is used at 950 rpm Under the rotating speed, wrap it into oriented multi-walled carbon nanotube fibers, drop-coat ethanol solution along the fiber axis, and dry at room temperature for 1 hour to obtain oriented oriented multi-walled carbon nanotube fibers;

[0038] (2) Preparation of fibrous micro-robot assembly unit with asymmetric modification of platinum nanoparticles: configure an electrolyte solution containing 1 mmol per liter of potassium chloroplatinate and 0.1 mol per liter of potassium chloride, and use a three-electrode system for electrochemical deposition on Oriented multi-walled carbon nanotube fibers show off modified platinum nanoparticles; the working electrode is a carbon nanotube fiber with a diameter of 80 microns and a l...

Embodiment 3

[0041] (1) Preparation of graphene fibers: Take 60 grams of graphene oxide powder and disperse it in 30 ml of deionized water to obtain a graphene oxide dispersion. After ultrasonic oscillation for 3 hours, heat and concentrate the dispersion to 2 ml; inject the obtained concentrate into the inner diameter After being a 70-micron polytetrafluoroethylene tube, seal its two ends, and heat it in a muffle furnace at a temperature of 200°C for 5 hours to obtain a graphene fiber;

[0042] (2) Preparation of fibrous micro-robot assembly unit with asymmetric modification of platinum nanoparticles: configure an electrolyte solution containing 1 mmol per liter of potassium chloroplatinate and 0.1 mol per liter of potassium chloride, and use a three-electrode system for electrochemical deposition on Oriented multi-walled carbon nanotube fibers show off modified platinum nanoparticles; the working electrode is a carbon nanotube fiber with a diameter of 70 microns and a length of 5 mm, and ...

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Abstract

The invention relates to a self-driven reconfigurable modular robot and a preparation method thereof. According to the reconfigurable modular robot, carbon nanometer material fibers which are asymmetrically modified by platinum nanoparticles are used as assembling units, and the reconfigurable modular robot is formed by end-to-end connecting of the assembling units in a modular assembling mode. The platinum nanoparticles on the assembling units are catalyzed and disintegrated in a chemical solvent hydrogen peroxide solution to react and produce bubbles, so that the fiber-like assembling unitsobtain steady thrust moment on the liquid surface, and stable fixed-axis-like rotation is formed accordingly. Structural design and directional stress analysis are conducted on the multiple fiber-likeself-driven units, a highly customizable micro braking system is obtained in the modular assembling mode, and stable and controllable rotation or linear displacement movement needs to be achieved according to actual use scenes. The carbon nano-material fibers are oriented carbon nanotube fibers or graphene fibers. The reconfigurable modular micro-robot has great potential in the field of more intelligent micro-robots with highly controllable moving modes.

Description

technical field [0001] The invention belongs to the technical field of micro-robots, in particular to a chemical solvent-powered self-driven reconfigurable modular robot and a preparation method thereof. Background technique [0002] Microrobots have become one of the important branches of robotics in recent years because of their potential to accomplish specific tasks in small spaces, such as targeted drug delivery, cell manipulation, bioimaging, and non-invasive microsurgery. Different from the traditional macro-functional robot, the frame of the micro-robot not only serves as a structural support, but also assumes the function of a driving module, so as to meet the requirements of the overall system to be miniaturized, compact and able to complete specific tasks. Actuation of microrobots by chemical energy is one of the most widely studied mechanisms. By designing the microstructure of suitable materials, the structure can undergo specific chemical reactions under certai...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J7/00B25J19/00
CPCB25J7/00B25J19/007
Inventor 廖萌孙浩叶蕾彭慧胜
Owner FUDAN UNIV
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