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Alternative TitleResearch on Control and Applications of Bubble Microrobots Based on Opto-thermal Effect
Thesis Advisor刘连庆
Keyword光热效应 气泡 微型机器人 微操作与组装 一体化装配
Degree Discipline检测技术与自动化装置
Degree Name博士
Degree Grantor中国科学院沈阳自动化研究所
Place of Conferral沈阳
Other AbstractAs a two-phase system widely existing in nature, bubbles play an important role in people's life and production. In micro- and nano- scale, bubbles can provide driving force for the movement of objects, and can also operate on specific targets. In this paper, micro-robot with bubbles generated and controlled by optothermal effects is applied to the operation and assembly of micro-sphere and micro-module: 1) Research on the generation and control methods of microbubbles. Optothermal effect plays a key role in the generation of micro-bubbles. Firstly, the mechanism of optothermal bubble generation is analyzed, and an experimental system for the generation and control of microbubbles by laser is designed and built. The influence of material optothermal efficiency and transmittance is analyzed, and the basis of material and laser selection is proposed. Using different power laser to irradiate the chip coated with endothermic material, bubbles are generated on the surface of endothermic layer, and the conditions of bubble generation are obtained. The temperature change of endothermic layer surface is analyzed by finite element simulation software, and the decisive factors of bubble growth are determined. The relationship between the distribution of the optothermal field and the bubble size is analyzed, and the bubble size changing module is studied. The bubble growth model is established. In addition, the laser irradiation state is controlled, and the method of controlling the bubble by using the modulation signal is proposed. The influence of different signal parameters on the bubble size is analyzed. 2) Manipulation methods of micropaticles based on photo-thermal bubble. On the basis of controlling the bubble size, the movement of the bubble on the surface of the endothermic layer is guided by the movement of the laser. The flow state of liquid around the bubble was analyzed, and the mechanism of bubble adsorbing microspheres was clarified, and the influence of laser parameters on the flow field was analyzed. Trapping and moving of microsphere by microbubble on chip controlled by continuous laser irradiation was finished. By modulating the laser irradiation mode, the small and relatively stable bubble robot was used to attract, move and release the microballs. In order to solve the problem of heat flow field affecting the microsphere, a non-contact operation method was proposed, in which the ring hydrogel module driven by bubble robot was used to operate the microsphere, separating the bubble and microballs. 3) 2D to 3D manipulation and assembly of micromodules using surface Bubble microrobots. A novel 3D manipulation and assembly technique based on optothermally generated bubble robots is proposed. The generation, rate of growth, and motion of a microbubble robot can be controlled by modulating the power of a laser focused on the interface between the substrate and a fluid. In addition to 2D operations, bubble robots are able to perform 3D manipulations. The 3D properties of hydrogel microstructures are adjusted arbitrarily, and convex and concave structures with different heights are designed. Furthermore, annular micromodules are assembled into 3D constructs, including tubular and concentric constructs. A variety of hydrogel microstructures of different sizes and shapes are operated and assembled in both 2D and 3D conformations by bubble robots. The manipulation and assembly methods are simple, rapid, versatile, and can be used for fabricating tissue constructs. 4) Integrated assembly and flexible movement using multifunctional bubble microrobots. At the microscale, most assembly technologies can only pattern the micromodules together loosely and can hardly combine the micromodules to directly form an entity that cannot be easily dispersed. In this study, surface bubbles are made to function as microrobots on a chip. These microrobots can move, fix, lift, and drop microparts and integratively assemble them into a tightly connected entity. As an example, the assembly of a pair of microparts with dovetails is considered. A jack-like bubble robot is used to lift and drop a micropart with a tail, whereas a mobile microrobot is used to push the other micropart with the corresponding socket to the proper position so that the tail can be inserted into the socket. The assembled microparts with the tail-socket joint can move as an entity without separation. Similarly, different types of parts are integratively assembled to form various structures such as gears, snake-shaped chains, and vehicles, which are then driven by bubble microrobots to perform different forms of movement. This assembly technology is simple and efficient and is expected to play an important role in micro-operation, modular assembly, and tissue engineering. In this dissertation, the research work provides a theoretical guidance for the generation and control of bubble microrobots, and provides a new method for bubble-based operation and assembly technology, it provides the technical support and solution for constructing 3D biological tissue and assembling micro-robots.
Contribution Rank1
Document Type学位论文
Recommended Citation
GB/T 7714
代利国. 基于光热效应的气泡微型机器人控制方法与应用研究[D]. 沈阳. 中国科学院沈阳自动化研究所,2021.
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