蚂蚁机器人的目标夹持与协同运动控制。

Target clamping and cooperative motion control of ant robots.

机构信息

State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, People's Republic of China. Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, People's Republic of China. University of Chinese Academy of Sciences, Beijing 100049, People's Republic of China.

出版信息

Bioinspir Biomim. 2019 Oct 25;14(6):066015. doi: 10.1088/1748-3190/ab4839.

DOI:10.1088/1748-3190/ab4839

PMID:31557748

Abstract

Carpenter ants possess the characteristics of division of labor, communication between individuals, cooperation, and the ability to solve problems. Inspired by the carpenter ant, we designed electromagnetically controlled ant millirobots that can move, clamp, and work cooperatively. The robot can receive power wirelessly to actuate its ionic polymer-metal composite gripper. Further, two robots can be controlled to manipulate small components individually or cooperatively. Dual-robot manipulation is found to take 76.7% of the time required for single-robot manipulation. The results show that complicated manipulation can be performed by robots that are multifunctional and flexible by utilizing electromagnetic actuation, intelligent materials, and wireless power transmission.

摘要

木匠蚁具有分工、个体间通信、合作和解决问题的能力。受木匠蚁的启发，我们设计了电磁控制的蚂蚁微机器人，可以移动、夹持和协同工作。机器人可以通过无线方式接收能量来驱动其离子聚合物-金属复合材料夹具。此外，两个机器人可以被控制，单独或协同地操纵小部件。双机器人操作被发现比单机器人操作所需的时间少 76.7%。结果表明，通过利用电磁致动、智能材料和无线功率传输，多功能且灵活的机器人可以执行复杂的操作。