柔性微纳米机器人多模态变体关键技术研究

With rapid development of coexisting-cooperative-cognitive robot and advanced micro/nano-manufacturing technique, the concept of soft micro/nanorobots is proposed and attract more and more attentions in recent years. The special properties of micro/nanoscale materials and structures under complex microfluidic environments drive the development of flexible reconfigurable micro/nanorobots that have unique advantages, such as small movement resistance, strong environmental adaptation, high control flexibility, etc. The achievement on its core technologies that can active, controllable and reversible switches of the functional structures between multiple stable configurations, termed multimodal shape morphing, has important significance in biomedical applications. This project intends to develop smart printable materials and advanced micro/nano-manufacturing technology for fabricating flexible stimulus-responsive micro/nanorobots, and explore the mechanical properties and deformation mechanism of flexible smart materials by using micro/nano mechanical testing and finite element analysis method. With the aid of advanced micro/nano manufacturing technology and structure-functional design method, the complex shape-morphing design and optimization strategy of flexible micro/nano robot will be further investigated. By studying the deformation mechanism, actuation method and control strategy of multimodal shape morphing under the coupling of multi-physical and chemical fields, the effective methods of design, fabrication and optimization of material-structure-actuation-functional integration will be explored. The current researches will provide reliable theoretical and technical supports for potential biomedical applications of soft micro/nanorobots.

随着共融机器人和先进微纳制造技术的不断发展，柔性微纳米机器人应运而生。具有环境刺激响应结构变形能力的柔性微纳米机器人不仅具备运动阻力小、环境适应强、操控柔顺等独特优势，而且可进行结构功能化设计，使其拥有多模态变体功能，即实现柔性机器人结构在多种稳态构型之间的可控、可逆切换。柔性微纳米机器人的多模态变体功能在生物医学等领域有重要的潜在应用前景。本项目拟研发柔性智能可打印材料，探究其非线性大变形特性和调控机制；基于先进微纳制造技术及结构功能化设计方法，研究柔性微纳米机器人复杂多模态变体设计及优化策略；通过开展多物理/化学场耦合下多模态变体机理、驱动方法及控制策略研究，探究材料-结构-驱动-功能四位一体的设计、制备及功能优化的有效方法，为探索柔性微纳米机器人生物医学等领域的应用研究提供理论和技术支持。

柔性微纳米机器人在生物医学等领域具有广阔的应用前景，是共融机器人研究的重要发展方向之一。本项目聚焦柔性微纳米机器人多模态变体关键技术，从智能材料开发、结构设计和优化、驱动控制策略构建、多场耦合运动和仿真优化分析、体外试验验证等五个方面开展了系统攻关工作，取得了一系列突破性研究进展。成功研发了可用于双光子三维激光直写3D打印的智能材料，定量表征了智能材料的力学性能变化规律和本构关系，提出了计算机辅助设计指导构建智能变体系统的有效方法；构建了面向超高变形自由度的全新4D微纳打印新方法，发展了基于可编程模块化组装的大尺度超高精度变体系统建造技术，突破了传统4D打印的技术瓶颈；基于折纸/剪纸结构设计理论实现了多模态变体结构优化设计，提出了球面四边形剪纸结构的相容性定理和相应的折纸/剪纸逆向设计框架；搭建了磁驱动控制系统，开发了微纳米机器人磁驱动控制技术，建立了基于视觉反馈的磁驱动机器人自动循迹控制方法，实现了磁场驱动下微纳米机器人三维运动和多模式运动的精准控制；构建了基于微流控芯片的柔性微纳米机器人体外试验方法，为柔性微纳米机器人材料-结构-驱动-功能四位一体设计优化、多模态变体关键技术测试提供了重要技术支撑平台。.项目执行期内共发表SCI论文70篇，包括Science Advances, PNAS, Physical Review Letters, Materials Today, Advanced Materials, Biomaterials, Soft Robotics 等国际著名期刊。该项目作为第一位致谢基金号的论文有23篇。提交专利14篇，已经授权9篇。参加国内外学术会议21次，并受邀做大会报告、主旨报告和特邀报告17次，主持承办学术会议6次。获得12项学术奖励，包括国家自然科学二等奖（2020）（获奖人：段慧玲，王建祥，黄筑平），美国机械工程师学会会士（ASME Fellow）（2020）。