Zhao Peiran, Yan Liang, Gao Xiaoshan
School of Automation Science and Electrical Engineering, Beihang University, Beijing, China.
Ningbo Institute of Technology, Beihang University, Ningbo, China.
Soft Robot. 2023 Dec;10(6):1146-1158. doi: 10.1089/soro.2022.0183. Epub 2023 Jun 16.
Magnetically actuated miniature robots have immeasurable potential in lab-on-a-chip and biomedical due to their ability to navigate in constrained space. However, current soft robots made by elastomers have limited functionalities and are prevented from very narrow environments such as channel much smaller than their size because of their non- or limited deformability. In this study, a soft and multifunctional robot based on liquid metal (magnetic liquid-metal droplet robot [MLDR]) with high output force is reported. It is fabricated by engulfing iron particles into a Galinstan droplet. By changing the shape and motion of permanent magnets, the MLDR can be reshaped and moved. The MLDR can also be split in batches and merged efficiently. It shows good softness and flexibility when navigating freely in a narrow channel, and thus can pass through a confined space smaller than its size easily. Furthermore, the MLDR can also push and spread the accumulated liquid in a desired path, and manipulate the motions of small objects well. Benefiting from the solidification-like phenomenon, an MLDR can output milli-Newton-level force much higher than the output force of ferrofluid droplet robots in micro-Newton level. The demonstrated capabilities of the MLDR are promising for the applications in lab-on-a-chip or biomedical devices.
由于能够在受限空间中导航，磁驱动微型机器人在芯片实验室和生物医学领域具有不可估量的潜力。然而，目前由弹性体制成的软机器人功能有限，由于其不可变形或变形能力有限，它们无法进入比自身尺寸小得多的非常狭窄的环境，如通道。在本研究中，报道了一种基于液态金属的软多功能机器人（磁性液态金属微滴机器人[MLDR]），其具有高输出力。它是通过将铁颗粒包裹在镓铟锡合金液滴中制成的。通过改变永磁体的形状和运动，MLDR可以重新塑形并移动。MLDR还可以分批分裂并高效合并。当在狭窄通道中自由导航时，它表现出良好的柔软性和灵活性，因此可以轻松穿过比其尺寸小的受限空间。此外，MLDR还可以在所需路径上推动和扩散积聚的液体，并很好地操纵小物体的运动。受益于类凝固现象，MLDR可以输出毫牛顿级的力，远高于微牛顿级的铁磁流体微滴机器人的输出力。MLDR所展示的能力在芯片实验室或生物医学设备中的应用前景广阔。
