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Magnetically-actuated swimming microrobots are an emerging tool for navigating and manipulating materials in confined spaces. Recent work has demonstrated that it is possible to build such systems at the micro and nanoscales using polymer microspheres, magnetic particles and DNA nanotechnology. However, while these materials enable an unprecedented ability to build at small scales, such systems often demonstrate significant polydispersity resulting from both the material variations and the assembly process itself. This variability makes it difficult to predict, let alone optimize, the direction or magnitude of microswimmer velocity from design parameters such as link shape or aspect ratio. To isolate questions of a swimmer's design from variations in its physical dimensions, we present a novel experimental platform using two-photon polymerization to build a two-link, buoyant milliswimmer with a fully customizable shape and integrated flexible linker (the swimmer is underactuated, enabling asymmetric cyclic motion and net translation). Our approach enables us to control both swimming direction and repeatability of swimmer performance. These studies provide ground truth data revealing that neither the first order nor second order models currently capture the key features of milliswimmer performance. We therefore use our experimental platform to develop design guidelines for tuning the swimming speeds, and we identify the following three approaches for increasing speed: (1) tuning the actuation frequency for a fixed aspect ratio, (2) adjusting the aspect ratio given a desired range of operating frequencies, and (3) using the weaker value of linker stiffness from among the values that we tested, while still maintaining a robust connection between the links. We also find experimentally that spherical two-link swimmers with dissimilar link diameters achieve net velocities comparable to swimmers with cylindrical links, but that two-link spherical swimmers of equal diameter do not.
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Motion Planning, Design Optimization and Fabrication of Ferromagnetic Swimmers
Small-scale robots have the potential to impact many areas of medicine and manufacturing including targeted drug delivery, telemetry and micromanipulation. This paper develops an algorithmic framework for regulating external magnetic fields to induce motion in millimeter-scale robots in a viscous liquid, to simulate the physics of swimming at the micrometer scale. Our approach for planning motions for these swimmers is based on tools from geometric mechanics that provide a novel means to design periodic changes in the physical shape of a robot that propels it in a desired direction. Using these tools, we are able to derive new motion primitives for generating locomotion in these swimmers. We use these primitives for optimizing swimming efficiency as a function of its internal magnetization and describe a principled approach to encode the best magnetization distribu- tions in the swimmers. We validate this procedure experimentally and conclude by implementing these newly computed motion primitives on several magnetic swimmer prototypes that include two-link and three-link swimmers.
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- Award ID(s):
- 1739308
- PAR ID:
- 10320825
- Date Published:
- Journal Name:
- Robotics science and systems
- ISSN:
- 2330-765X
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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