基于多台光电机器人的非接触式灵巧微操作
Non-contact Dexterous Micromanipulation with Multiple Optoelectronic Robots
AI总结：
针对现有微操作方法依赖定制工具、适用场景有限的问题，提出基于光电技术的非接触式微操作方法，利用介电泳力驱动微型机器人实现无接触操作，经仿真与实验验证，为微尺度任务提供通用灵巧方案。
摘要：
微操作系统利用自动化与机器人技术提升各类微尺度任务的精度、可重复性与效率。但现有方法通常局限于特定对象或任务，需要使用定制工具与专用抓取方法。本文提出一种基于光电技术的新型非接触式微操作方法。该方法利用光电场中产生的排斥介电泳力驱动微型机器人，使微型机器人能够在杂乱环境中无需物理接触即可推动目标物体。非接触特性可将潜在损伤、污染或黏附的风险降至最低，同时大幅提升操作灵活性。这一特性使得通用工具可用于间接物体操作，无需专用工具。研究开展了一系列仿真研究与真实世界实验，包括非接触轨迹跟踪、避障以及多台微型机器人之间的相互避障，以验证所提方法的性能。所提出的方案为微尺度下的各类对象与任务提供了通用且灵巧的解决方案。
英文摘要：
Micromanipulation systems leverage automation and robotic technologies to improve the precision, repeatability, and efficiency of various tasks at the microscale. However, current approaches are typically limited to specific objects or tasks, which necessitates the use of custom tools and specialized grasping methods. This paper proposes a novel non-contact micromanipulation method based on optoelectronic technologies. The proposed method utilizes repulsive dielectrophoretic forces generated in the optoelectronic field to drive a microrobot, enabling the microrobot to push the target object in a cluttered environment without physical contact. The non-contact feature can minimize the risks of potential damage, contamination, or adhesion while largely improving the flexibility of manipulation. The feature enables the use of a general tool for indirect object manipulation, eliminating the need for specialized tools. A series of simulation studies and real-world experiments -- including non-contact trajectory tracking, obstacle avoidance, and reciprocal avoidance between multiple microrobots -- are conducted to validate the performance of the proposed method. The proposed formulation provides a general and dexterous solution for a range of objects and tasks at the micro scale.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
