Bai Xue, Chen Dixiao, Zhang Wei, Ossian Heulin, Chen Yuanyuan, Feng Yanmin, Feng Lin, Arai Fumihito
School of Mechanical Engineering & Automation, Beihang University, Beijing 100191, China.
Beijing Advanced Innovation Center for Biomedical Engineering, Beihang University, Beijing 100083, China.
Micromachines (Basel). 2020 Feb 24;11(2):231. doi: 10.3390/mi11020231.
This paper presents a semi-automatic actuation system which can achieve bio-particles tracking, transportation, and high-precision motion control of robots in a microfluidic chip. This system is mainly applied in magnetically driven robots. An innovative manta ray-like robot was designed to increase stability of robots in a non-contaminated manipulation environment. A multilayer piezo actuator was applied to generate high-frequency vibration to decrease the friction between robots and the glass substrate. We also set up a user-friendly GUI (Graphical User Interface) and realized robot tracking and predetermined trajectory motion through excellent algorithms using Python and C++. In biotechnology, precise transportation of cells is used for the enucleation, microinjection, and investigation of the characteristics of a single cell. Being optimized, the parameters of the robot can effectively reach 10 µm in actuation precision and a maximum actuation speed of 200 mm/s.
本文介绍了一种半自动驱动系统，该系统可在微流控芯片中实现生物粒子跟踪、运输以及机器人的高精度运动控制。该系统主要应用于磁驱动机器人。设计了一种创新的蝠鲼状机器人，以提高机器人在无污染操作环境中的稳定性。应用多层压电致动器产生高频振动，以减少机器人与玻璃基板之间的摩擦。我们还建立了一个用户友好的图形用户界面（GUI），并使用Python和C++通过优秀的算法实现了机器人跟踪和预定轨迹运动。在生物技术中，细胞的精确运输用于细胞核摘除、显微注射以及单细胞特性研究。经过优化，机器人的参数可有效实现10 µm的驱动精度和200 mm/s的最大驱动速度。
