CN107962548B - Reconfigurable modular micro robot and preparation method thereof - Google Patents

Reconfigurable modular micro robot and preparation method thereof Download PDF

Info

Publication number
CN107962548B
CN107962548B CN201711130410.8A CN201711130410A CN107962548B CN 107962548 B CN107962548 B CN 107962548B CN 201711130410 A CN201711130410 A CN 201711130410A CN 107962548 B CN107962548 B CN 107962548B
Authority
CN
China
Prior art keywords
fiber
micro
robot
assembly
carbon nanotube
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201711130410.8A
Other languages
Chinese (zh)
Other versions
CN107962548A (en
Inventor
廖萌
孙浩
叶蕾
彭慧胜
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fudan University
Original Assignee
Fudan University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fudan University filed Critical Fudan University
Priority to CN201711130410.8A priority Critical patent/CN107962548B/en
Publication of CN107962548A publication Critical patent/CN107962548A/en
Application granted granted Critical
Publication of CN107962548B publication Critical patent/CN107962548B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J7/00—Micromanipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/007—Means or methods for designing or fabricating manipulators

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Inert Electrodes (AREA)
  • Carbon And Carbon Compounds (AREA)

Abstract

The invention relates to a self-driven reconfigurable modular robot and a preparation method thereof. The reconfigurable modular robot is formed by connecting end to end in a modular assembly mode by taking carbon nano material fibers which are asymmetrically modified by platinum nano particles as assembly units; the platinum nanoparticles on the assembly unit are catalytically decomposed in a chemical solvent hydrogen peroxide solution to generate bubbles, so that the fibrous assembly unit obtains a stable thrust moment on the liquid surface, and stable quasi-fixed-axis rotation is formed; through structural design and directional stress analysis, the fibrous self-driving units obtain a highly customizable micro braking system in a modular assembly mode, and achieve stable and controllable rotation or linear displacement motion according to the actual use scene requirement; the carbon nano material fiber is an oriented carbon nanotube fiber or a graphene fiber. The reconfigurable modular micro-robot has huge application potential in the field of micro-robots which are more intelligent and have more highly controllable motion modes.

Description

Reconfigurable modular micro robot and preparation method thereof
Technical Field
The invention belongs to the technical field of micro robots, and particularly relates to a self-driven reconfigurable modular robot powered by a chemical solvent and a preparation method thereof.
Background
Micro-robots have recently become one of the major branches of robotics due to their potential to perform certain tasks in confined spaces, such as targeted drug delivery, cell manipulation, bio-imaging, and non-invasive microsurgery. Different from the traditional macro-functional robot, the frame of the micro-robot is used as a structural support and simultaneously bears the function of the driving module so as to meet the requirements of the whole system on micro and compact performance and capability of completing specific tasks. Driving a microrobot by chemical energy is one of the most widely studied mechanisms at present. By microstructuring suitable materials, the structure can perform specific chemical reactions under certain conditions, and the energy generated by reactants or reactions is asymmetrically released or dissipated from the surface of the structure, so that the generation of a net driving force is realized.
Based on the principle, a series of structures such as nano particles, nano wires and nano rods with Janus structures are prepared through synthesis to realize micro-structureThe work of autonomous movement of the type structure has made certain progress[1-4]. However, the method is limited by an immature preparation means in a micro system, the motion controllability realized by synthesizing a relatively simple chemical structure at present needs to be improved, and the potential of forming a more complex and multifunctional braking system by further assembling means is not provided in the later period. These problems greatly limit the environmental suitability and adjustability of the synthetic microrobots to a variety of use scenarios, increasing the cost of manufacturing and maintaining the corresponding micro-braking systems.
Disclosure of Invention
The invention aims to provide a reconfigurable modular robot with good motion controllability and strong environmental adaptability and a preparation method thereof.
The method comprises the steps of preparing the fibrous micro-robot assembly unit by a universal method, and further constructing the micro-brake system with higher structural complexity and strong controllability based on the assembly unit.
The assembly unit of the fibrous micro-robot prepared by the invention is the carbon nano-material fiber modified by the asymmetric platinum nano-particles, has the structural characteristics of light weight and toughness, and can release bubbles through catalytic reaction in a hydrogen peroxide solution to obtain stable thrust moment so as to realize quasi-dead-axis rotation. Through the stress analysis and the modularized assembly of the fiber-shaped assembly units, the micro brake system with different geometric structures and motion modes can be constructed relatively simply, and the motion of a preset track is completed based on the system.
The carbon nano material fiber comprises a carbon nano tube fiber or a graphene fiber, but is not limited to the carbon nano material fiber and the graphene fiber.
Specifically, the reconfigurable modular micro-robot provided by the invention is powered by a chemical solvent, takes carbon nano-material fibers which are asymmetrically modified by platinum nano-particles as assembly units, and is formed by connecting the carbon nano-material fibers end to end in a modular assembly mode; the platinum nanoparticles on the assembly unit are catalytically decomposed in a chemical solvent hydrogen peroxide solution to generate bubbles, so that the fibrous assembly unit obtains a stable thrust moment on the liquid surface, and stable quasi-fixed-axis rotation is formed; after structural design and directional stress analysis of the plurality of fibrous self-driving units, a highly customizable micro-braking system can be obtained in a modular assembly mode, and stable and controllable rotary or linear displacement motion can be achieved according to the actual use scene requirements.
In the invention, the fibrous robot assembly unit is composed of carbon nano material fibers of which quarter cylindrical surfaces are loaded with platinum nano particles. The platinum nanoparticle modification on the fiber surface is completed by electrochemical deposition, and in the deposition process, a certain length of carbon nanomaterial fiber is fixed on a glass slide to be used as a working electrode (see fig. 1). Due to the shielding effect of the glass slide, only one surface of the whole fiber is fully exposed in the electrolyte, so that a dense platinum-plated surface (i.e. the surface opposite to the glass slide) and a sparse platinum-plated surface (i.e. the surface tightly attached to the glass slide) are generated (shown in figure 1 (b)), the asymmetric modification of the platinum nanoparticles is realized, the net thrust can be realized on the liquid surface of the hydrogen peroxide solution, the fixed-axis rotation is further completed (shown in figure 2), and the rotation angular velocity can be up to 22.3 radians per second at most. The fiber-shaped assembly unit can provide stable torque, so that the movement of a single assembly unit in a two-dimensional plane has predictability, the possibility of further assembly is provided, and the modularized miniature brake system with highly controllable shape and movement mode can be realized through the two-stage assembly of the single assembly unit.
The invention provides a preparation method of a reconfigurable modular micro-robot, which comprises the following specific steps:
(1) the preparation of the carbon nano material fiber comprises the preparation of oriented multi-wall carbon nano tube fiber and the preparation of graphene fiber:
preparing oriented multi-wall carbon nanotube fibers: firstly, directly drawing an oriented multi-walled carbon nanotube film from a spinnable multi-walled carbon nanotube array with the width of 3-7 cm by using a blade, wrapping the oriented multi-walled carbon nanotube film into oriented multi-walled carbon nanotube fibers by using a manual spinning machine at the rotating speed of 300-1000 rpm, dripping ethanol solution along the axial direction of the fibers, and drying at room temperature for 1-2 hours to obtain shaped oriented multi-walled carbon nanotube fibers;
preparing graphene fibers: dispersing 20-60 g of graphene oxide powder in 10-30 ml of deionized water to obtain graphene oxide dispersion liquid, carrying out ultrasonic oscillation for 2-4 hours, and then heating and concentrating the dispersion liquid to 2 ml; injecting the obtained concentrated solution into a polytetrafluoroethylene tube with the inner diameter of 50-500 microns, sealing two ends of the polytetrafluoroethylene tube, and heating the polytetrafluoroethylene tube in a muffle furnace at the temperature of 150 ℃ and 280 ℃ for 2-6 hours to obtain graphene fibers;
(2) preparation of a platinum nanoparticle asymmetrically modified fibrous microrobot assembly unit:
preparing electrolyte containing 0.1-1 millimole per liter of potassium chloroplatinate and 0.1-1 millimole per liter, and modifying platinum nanoparticles on the surface of the carbon nano material fiber by adopting a three-electrode system through electrochemical deposition; the working electrode is carbon nano material fiber with the diameter of 10-100 micrometers and the length of 1-10 millimeters, the carbon nano material fiber is fixed on the glass slide, only one cylindrical surface of the carbon nano material fiber is fully soaked in the electrolyte, one half of the length of the carbon nano material fiber is above the liquid level of the electrolyte, the counter electrode is a platinum wire, and the reference electrode is a silver/silver chloride electrode; performing electrochemical deposition by double potential step method, wherein the potential 1 is 0.4-0.5V, the maintaining time is 10-20 s, the potential 2 is-0.7V-0.5V, the maintaining time is 10-20 s, and the combination of 20-40 s is a period; performing double-potential step deposition for 10-200 periods, taking out the glass slide from the electrolyte, and drying at room temperature for 1-2 hours to obtain a fibrous micro-robot assembly unit with a quarter-fiber side cylindrical surface modified with platinum nanoparticles;
when the carbon nano material fiber is oriented multi-wall carbon nanotube fiber, a fibrous micro robot assembly unit based on the oriented multi-wall carbon nanotube is obtained; when the carbon nano material fiber is graphene fiber, obtaining a fibrous micro-robot assembly unit based on graphene;
(3) preparing a brake system of the reconfigurable modular micro robot:
and (3) forming different two-dimensional or three-dimensional structures by connecting the fibrous micro-robot assembly units obtained in the step (2) end to end in a simple stress analysis manner, so that the reconfigurable modular micro-robot braking system with different motion modes can be realized. In the stress analysis, for example, if the resultant moments of the assembled bodies are both clockwise or both counterclockwise, the assembled bodies will rotate as a whole, as shown in fig. 4 (a); in another example, if the directions of the resultant moments constituting the assembly are made to coincide, the assembly generates a linear displacement motion, as shown in fig. 4 (b).
The reconfigurable modular micro-robot prepared in the above way is placed on a hydrogen peroxide solution liquid surface with the mass fraction of 10-30%, and bubbles can be released through a platinum particle catalytic reaction on a micro-braking system fiber structure to form thrust, so that a pre-designed rotary or linear displacement motion mode is realized (fig. 7).
The reconfigurable modular micro-robot prepared in the above way can complete the task of carrying 1-6 cubic centimeters of graphene aerogel cargos in a narrow space according to a specified route by assembling the fiber units on the three-dimensional layer (fig. 8).
In the invention, the oriented carbon nanotube array can be prepared by the following method: the vertical oriented spinnable multi-wall carbon nano-tube array is synthesized by a chemical vapor deposition method. Wherein the catalyst is Fe (1-2 nm)/Al2O3(8-12 nm), the carbon source is ethylene, the gas phase carrier is mixed gas of argon and hydrogen, and the spinnable carbon nanotube array is obtained by chemical vapor deposition; the values in brackets are the thickness of the corresponding material.
The fibrous micro-robot assembly unit obtained by the method can form stable rotation on the liquid surface of the hydrogen peroxide solution, and benefits from the excellent conductivity (10) of the oriented carbon nanotube fiber and the graphene fiber4-105S/m) and a gully structure rich on the surface, a large number of growth sites are provided for electrodepositing the platinum nano particles, and the catalysis and rotation of the platinum nano particles on the liquid surface are further promoted. The aligned carbon nanotube fiber has a certain mechanical strength (10)2-103MPa) to provide structural stability to the entire drive train, with both temporal (no significant attenuation of the rotation rate during the observed 1000 revolutions) and spatial (center of mass position of the fiber-like micro-robot assembly unit during the observed 1000 revolutions) stability during rotationFocusing in a smaller area), such stability gives the predictability of the motion of a single assembly unit, namely the prediction of the motion track of an assembly body formed by the assembly unit through simple calculation, and also provides a basis for further multi-stage assembly and reconstruction design based on the same fibrous assembly unit. The fiber framework assembly obtained by assembling and designing the fiber assembly units can realize more complex and diversified motions according to design instructions, for example, the rotary motion and the translational motion can be realized on various structures by adjusting the splicing mode of the assembly units. Here, mainly describing the two-dimensional structure, the shape that can be assembled is shown in FIG. 6, and 6 typical structures that have been experimentally verified are shown in FIG. 7)
Further, after the assembly body in the two-dimensional linear motion mode is assembled by the platinized carbon nanofibers (the oriented carbon nanotubes or the graphene fiber assembly units), common oriented carbon nanotube fibers are further assembled in the vertical direction of the existing two-dimensional assembly body structure to serve as vertical supports, so that a micro-drive transportation system (as shown in fig. 8) with a three-dimensional structure can be built, and transportation of large-volume cargos can be realized. The reconfigurable modular micro-robot has huge application potential in the field of micro-robots which are more intelligent and have more highly controllable motion modes.
Drawings
Fig. 1 is a flow chart for preparing a fibrous micro-robot assembly unit based on carbon nano-materials. Wherein, a is the arrangement mode of the glass slide baffle in the electrodeposition process, b is a detail drawing of the carbon nano material fiber modified by the platinum nano particles prepared according to the mode in a, and the platinum plating modification section can be divided into a dense platinum plating surface and a sparse platinum plating surface as shown in the drawing.
Fig. 2 is a schematic diagram of driving the assembly unit of the fibrous micro-robot based on the carbon nanomaterial. A is a rotation schematic diagram of the fiber assembly unit, namely platinum nanoparticles on the surface of the fiber catalyze hydrogen peroxide solution to generate bubbles to form rotation torque so as to form rotation; b is a specific stress analysis chart of a, the final resultant force of thrust generated by catalytic reaction and resistance generated by liquid surface viscosity is consistent with the thrust direction, and a rotary driving force is formed on the whole fiber.
FIG. 3 is a schematic diagram of the structure of the assembly unit of the fiber-shaped micro-robot based on the aligned carbon nanotube fiber and the image of the scanning electron microscope. Wherein a is a structural schematic diagram of the assembly unit based on the oriented carbon nanotube fiber, and b and c are scanning electron microscope images of the corresponding interface in a.
Fig. 4 is a force analysis diagram of six typical assemblies. And the resultant force of the three two-dimensional structures in the step a enables the whole structure to generate rotary motion, and the resultant force of the three two-dimensional structures in the step b enables the whole structure to generate linear displacement motion.
Fig. 5 is a frame-by-frame image of a single fiber assembly unit rotation video at a 30% hydrogen peroxide level taken under dark field conditions. And the lower right corner of each frame of image is a schematic azimuth view corresponding to the corresponding rotary motion.
Fig. 6 is a schematic view (left) and an actual view (right) of a drive assembly formed by assembling the fiber assembly unit. Wherein, ten assemblies in a are expressed in a rotary motion mode, and ten assemblies in b are expressed in a linear displacement motion mode.
Fig. 7 is a real motion video frame-by-frame image of 6 kinds of driving assemblies formed by assembling the fiber assembly unit. The left first column is a corresponding structural schematic diagram, and the right side is a screenshot of the motion situation.
Figure 8 is a three-dimensional "fish" shaped reconfigurable modular micro-robotic drive system formed by assembling fiber assembly units. The method comprises the following steps of carrying out a motion video carrying graphene aerogel on a screen, wherein a is a structural schematic diagram, b is a real object diagram when a load is not carried (left side) and a load is carried (right side), and c is a frame-by-frame screenshot of the motion video carrying the graphene aerogel.
Detailed Description
Example 1
(1) Preparing oriented carbon nanotube fibers: directly drawing the oriented multi-walled carbon nanotube film from a spinnable multi-walled carbon nanotube array with the width of 7 mm by using a blade, winding the oriented multi-walled carbon nanotube film into oriented multi-walled carbon nanotube fibers by using a manual spinning machine at the rotating speed of 800 revolutions per minute, dripping ethanol solution along the axial direction of the fibers, and drying at room temperature for 2 hours to obtain the shaped oriented multi-walled carbon nanotube fibers;
(2) preparing a platinum nanoparticle asymmetrically modified fibrous microrobot assembly unit: preparing electrolyte containing 1 millimole per liter of potassium chloroplatinate and 0.1 millimole per liter of potassium chloride, and performing electrochemical deposition by adopting a three-electrode system to sell and modify platinum nano-particles on the surface of the oriented multi-wall carbon nano-tube fiber; the working electrode is carbon nanotube fiber with the diameter of 50 micrometers and the length of 4 millimeters, the carbon nanotube fiber is fixed on the glass slide, only one cylindrical surface of the carbon nanotube fiber is fully soaked in the electrolyte, one half of the length of the carbon nanotube fiber is above the liquid level of the electrolyte, the counter electrode is a platinum wire, and the reference electrode is a silver/silver chloride electrode; performing electrochemical deposition by adopting a double-potential step method, wherein the potential 1 is 0.5V, the maintaining time is 10 seconds, the potential 2 is-0.7V, the maintaining time is 10 seconds, and 20 seconds are combined to form a period; performing double-potential step deposition for 110 periods, taking out the glass slide from the electrolyte, drying the glass slide at room temperature for 2 hours, and obtaining a fibrous micro-robot assembly unit with a cylindrical surface modified with platinum nanoparticles close to a quarter of the fiber side;
(3) preparing a reconfigurable modular micro robot rotary braking system: the fibrous micro-robot assembly units obtained in the 6 steps (2) were arranged along the side, and their tail ends were connected together to form a radial hexagon (first row of fig. 4), i.e., a rotating motion was realized on the surface of a 30% hydrogen peroxide solution.
Example 2
(1) Preparing oriented carbon nanotube fibers: directly drawing the oriented multi-walled carbon nanotube film from a spinnable multi-walled carbon nanotube array with the width of 8 mm by using a blade, winding the oriented multi-walled carbon nanotube film into oriented multi-walled carbon nanotube fibers by using a manual spinning machine at the rotating speed of 950 revolutions per minute, dripping ethanol solution along the axial direction of the fibers, and drying at room temperature for 1 hour to obtain the shaped oriented multi-walled carbon nanotube fibers;
(2) preparing a platinum nanoparticle asymmetrically modified fibrous microrobot assembly unit: preparing electrolyte containing 1 millimole per liter of potassium chloroplatinate and 0.1 millimole per liter of potassium chloride, and performing electrochemical deposition by adopting a three-electrode system to sell and modify platinum nano-particles on the surface of the oriented multi-wall carbon nano-tube fiber; the working electrode is carbon nanotube fiber with the diameter of 80 microns and the length of 3 millimeters, the carbon nanotube fiber is fixed on the glass slide, only one cylindrical surface of the carbon nanotube fiber is fully soaked in the electrolyte, one half of the length of the carbon nanotube fiber is above the liquid level of the electrolyte, the counter electrode is a platinum wire, and the reference electrode is a silver/silver chloride electrode; performing electrochemical deposition by adopting a double-potential step method, wherein the potential 1 is 0.5V, the maintaining time is 10 seconds, the potential 2 is-0.7V, the maintaining time is 10 seconds, and 20 seconds are combined to form a period; performing double-potential step deposition for 90 periods, taking out the glass slide from the electrolyte, drying the glass slide at room temperature for 1 hour, and obtaining a fibrous micro-robot assembly unit with a cylindrical surface modified with platinum nanoparticles close to a quarter of the fiber side;
(3) preparing a reconfigurable modular micro robot linear displacement braking system: the fibrous micro-robot assembly units obtained in the 4 steps (2) are symmetrically arranged, and the heads thereof are connected together to form a symmetrical shape similar to a claw (sixth line of fig. 4), i.e., a rotary motion can be realized on the surface of a 25% hydrogen peroxide solution.
Example 3
(1) Preparing graphene fibers: dispersing 60 g of graphene oxide powder in 30 ml of deionized water to obtain a graphene oxide dispersion liquid, and heating and concentrating the dispersion liquid to 2 ml after ultrasonic oscillation for 3 hours; injecting the obtained concentrated solution into a polytetrafluoroethylene tube with the inner diameter of 70 microns, sealing two ends of the polytetrafluoroethylene tube, and heating the polytetrafluoroethylene tube in a muffle furnace for 5 hours at the temperature of 200 ℃ to obtain graphene fibers;
(2) preparing a platinum nanoparticle asymmetrically modified fibrous microrobot assembly unit: preparing electrolyte containing 1 millimole per liter of potassium chloroplatinate and 0.1 millimole per liter of potassium chloride, and performing electrochemical deposition by adopting a three-electrode system to sell and modify platinum nano-particles on the surface of the oriented multi-wall carbon nano-tube fiber; the working electrode is carbon nanotube fiber with the diameter of 70 microns and the length of 5 millimeters, the carbon nanotube fiber is fixed on the glass slide, only one cylindrical surface of the carbon nanotube fiber is fully soaked in the electrolyte, one half of the length of the carbon nanotube fiber is above the liquid level of the electrolyte, the counter electrode is a platinum wire, and the reference electrode is a silver/silver chloride electrode; performing electrochemical deposition by adopting a double-potential step method, wherein the potential 1 is 0.5V, the maintaining time is 10 seconds, the potential 2 is-0.7V, the maintaining time is 10 seconds, and 20 seconds are combined to form a period; performing double-potential step deposition for 70 periods, taking out the glass slide from the electrolyte, drying the glass slide at room temperature for 1 hour, and obtaining a fibrous micro-robot assembly unit with a cylindrical surface modified with platinum nanoparticles close to a quarter of the fiber side;
(3) preparing a brake system of the reconfigurable modular three-dimensional carrying micro robot: arranging the fibrous micro-robot assembly units obtained in the 6 steps (2) and the graphene fibers obtained in the other 8 steps (1) according to the figure 5 to form a three-dimensional framework similar to a fish framework, and dyeing the graphene aerogel (green dye) with the volume of about 5 cubic centimeters to realize directional carrying on the surface of 20% hydrogen peroxide solution.
Reference to the literature
[1]Simmchen, J.; Katuri, J.; Uspal, W. E.; Popescu, M. N.;Tasinkevych, M.; Sánchez, S.Nat. Commun.2016, 7, 10598.
[2]Dong, R.; Zhang, Q.; Gao, W.; Pei, A.; Ren, B.ACS Nano2015, 10,839.
[3]Dai, B.; Wang, J.; Xiong, Z.; Zhan, X.; Dai, W.; Li, C. C.; Feng,S. P.; Tang, J.Nat. Nanotechnol.2016, 11, 1087.
[4]Qin, L.; Banholzer, M. J.; Xu, X.; Huang, L.; Mirkin, C. A.J. Am. Chem. Soc.2007, 129, 14870.。

Claims (3)

1. A preparation method of a reconfigurable modular micro-robot is characterized in that the micro-robot is formed by connecting end to end in a modular assembly mode by taking carbon nano-material fibers which are asymmetrically modified by platinum nano-particles as assembly units; the platinum nanoparticles on the assembly unit are catalytically decomposed in a chemical solvent hydrogen peroxide solution to generate bubbles, so that the fibrous assembly unit obtains a stable thrust moment on the liquid surface, and stable quasi-fixed-axis rotation is formed; through structural design and directional stress analysis, the fibrous self-driving units obtain a highly customizable micro braking system in a modular assembly mode, and achieve stable and controllable rotation or linear displacement motion according to the actual use scene requirement; the carbon nano material fiber is an oriented carbon nanotube fiber or a graphene fiber;
the method comprises the following specific steps:
(1) the preparation of the carbon nano material fiber comprises the preparation of oriented multi-wall carbon nano tube fiber and the preparation of graphene fiber:
preparing oriented multi-wall carbon nanotube fibers: firstly, directly drawing an oriented multi-walled carbon nanotube film from a spinnable multi-walled carbon nanotube array with the width of 3-7 cm by using a blade, wrapping the oriented multi-walled carbon nanotube film into oriented multi-walled carbon nanotube fibers by using a manual spinning machine at the rotating speed of 300-1000 rpm, dripping ethanol solution along the axial direction of the fibers, and drying at room temperature for 1-2 hours to obtain shaped oriented multi-walled carbon nanotube fibers;
preparing graphene fibers: dispersing 20-60 g of graphene oxide powder in 10-30 ml of deionized water to obtain graphene oxide dispersion liquid, carrying out ultrasonic oscillation for 2-4 hours, and then heating and concentrating the dispersion liquid to 2 ml; injecting the obtained concentrated solution into a polytetrafluoroethylene tube with the inner diameter of 50-500 microns, sealing two ends of the polytetrafluoroethylene tube, and heating the polytetrafluoroethylene tube in a muffle furnace at the temperature of 150 ℃ and 280 ℃ for 2-6 hours to obtain graphene fibers;
(2) preparation of a platinum nanoparticle asymmetrically modified fibrous microrobot assembly unit:
preparing electrolyte containing 0.1-1 millimole per liter of potassium chloroplatinate and 0.1-1 millimole per liter, and modifying platinum nanoparticles on the surface of the carbon nano material fiber by adopting a three-electrode system through electrochemical deposition; the working electrode is carbon nano material fiber with the diameter of 10-100 micrometers and the length of 1-10 millimeters, the carbon nano material fiber is fixed on the glass slide, only one cylindrical surface of the carbon nano material fiber is fully soaked in the electrolyte, one half of the length of the carbon nano material fiber is above the liquid level of the electrolyte, the counter electrode is a platinum wire, and the reference electrode is a silver/silver chloride electrode; performing electrochemical deposition by double potential step method, wherein the potential 1 is 0.4-0.5V, the maintaining time is 10-20 s, the potential 2 is-0.7V-0.5V, the maintaining time is 10-20 s, and the combination of 20-40 s is a period; performing double-potential step deposition for 10-200 periods, taking out the glass slide from the electrolyte, and drying at room temperature for 1-2 hours to obtain a fibrous micro-robot assembly unit with a quarter-fiber side cylindrical surface modified with platinum nanoparticles;
when the carbon nano material fiber is oriented multi-wall carbon nanotube fiber, a fibrous micro robot assembly unit based on the oriented multi-wall carbon nanotube is obtained; when the carbon nano material fiber is graphene fiber, obtaining a fibrous micro-robot assembly unit based on graphene;
(3) preparing a brake system of the reconfigurable modular micro robot:
and (3) forming different two-dimensional or three-dimensional structures by the fibrous micro-robot assembly units obtained in the step (2) in an end-to-end connection mode through stress analysis, namely realizing a reconfigurable modular micro-robot braking system with different motion modes.
2. The method for preparing a reconfigurable modular micro-robot according to claim 1, wherein in the step (3), the different two-dimensional structures are composed by force analysis, and the method comprises the following steps: so that the resultant moment of the assembly is clockwise or counterclockwise, and the assembly integrally rotates; or the directions of resultant moments forming the assembly are consistent, so that the assembly generates linear displacement motion.
3. The method for preparing a reconfigurable modular micro-robot according to claim 2, wherein in the step (3), the three-dimensional structures are composed by force analysis, and the method comprises the following steps: after the assembly body in a two-dimensional linear motion mode is assembled, common oriented carbon nanotube fibers are further assembled in the vertical direction of the assembly body to serve as vertical supports, and thus a micro-drive transportation system with a three-dimensional structure is built.
CN201711130410.8A 2017-11-15 2017-11-15 Reconfigurable modular micro robot and preparation method thereof Active CN107962548B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201711130410.8A CN107962548B (en) 2017-11-15 2017-11-15 Reconfigurable modular micro robot and preparation method thereof

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201711130410.8A CN107962548B (en) 2017-11-15 2017-11-15 Reconfigurable modular micro robot and preparation method thereof

Publications (2)

Publication Number Publication Date
CN107962548A CN107962548A (en) 2018-04-27
CN107962548B true CN107962548B (en) 2020-09-25

Family

ID=62001030

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201711130410.8A Active CN107962548B (en) 2017-11-15 2017-11-15 Reconfigurable modular micro robot and preparation method thereof

Country Status (1)

Country Link
CN (1) CN107962548B (en)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108527315B (en) * 2018-05-03 2021-04-30 复旦大学 Point light source driven micro robot and preparation method thereof
CN111663995B (en) * 2019-03-05 2021-08-10 湖南早晨纳米机器人有限公司 Chemical energy driven nano engine, method for providing power and nano robot
CN111762937B (en) * 2020-06-19 2021-10-29 昆明理工大学 Preparation method and application of composite photocatalytic nano motor
CN112208052B (en) * 2020-09-29 2021-12-28 西安交通大学 Micro robot based on magnetic particle guiding and preparation method thereof

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8096119B2 (en) * 2006-03-02 2012-01-17 Board Of Regents, The University Of Texas System Fuel-powered actuators and methods of using same
CN102039121B (en) * 2009-10-21 2013-06-05 中国科学院大连化学物理研究所 Platinum/carbon nanotube catalyst and preparation method and application thereof
CN102367589B (en) * 2011-09-15 2013-02-27 王利兵 Preparation method of binary gold nanoparticle Janus assembly
US20180348025A1 (en) * 2015-04-15 2018-12-06 Northeastern University Programmable elastic metamaterials
CN105742651B (en) * 2016-02-23 2018-03-27 青岛大学 A kind of starch biological fuel cell based on glucoamylase Yu the co-modified carbon nanomaterial hydridization anode of nanogold

Also Published As

Publication number Publication date
CN107962548A (en) 2018-04-27

Similar Documents

Publication Publication Date Title
CN107962548B (en) Reconfigurable modular micro robot and preparation method thereof
Maria-Hormigos et al. Carbon allotrope nanomaterials based catalytic micromotors
Li et al. Hierarchically structured electrospinning nanofibers for catalysis and energy storage
Wang et al. Shape-transformable, fusible rodlike swimming liquid metal nanomachine
Kannan et al. Current trends in MXene-based nanomaterials for energy storage and conversion system: a mini review
Yuan et al. 2D Nanomaterials wrapped janus micromotors with built-in multiengines for bubble, magnetic, and light driven propulsion
Babu et al. Electrodeposited nickel cobalt sulfide flowerlike architectures on disposable cellulose filter paper for enzyme-free glucose sensor applications
Wang Nanoscale biocatalyst systems
Dey et al. Catalytic motors—quo vadimus?
Wu et al. Self-propelled polymer-based multilayer nanorockets for transportation and drug release.
Zhang et al. Spiropyran-decorated SiO2–Pt Janus micromotor: Preparation and light-induced dynamic self-assembly and disassembly
Guo et al. Gold/platinum hybrid nanoparticles supported on multiwalled carbon nanotube/silica coaxial nanocables: preparation and application as electrocatalysts for oxygen reduction
Li et al. Combining metal-organic frameworks (MOFs) and covalent-organic frameworks (COFs): Emerging opportunities for new materials and applications
Nie et al. Electrospun one-dimensional electrocatalysts for oxygen reduction reaction: insights into structure–activity relationship
Tian et al. Fabrication of protein nanotubes based on layer-by-layer assembly
Jia et al. Reconstitution of FoF1-ATPase-based biomimetic systems
Zhou et al. Near-infrared light-steered graphene aerogel micromotor with high speed and precise navigation for active transport and microassembly
Jiang et al. Isotropic hedgehog-shaped-TiO2/functional-multiwall-carbon-nanotube micromotors with phototactic motility in fuel-free environments
CN109746008A (en) A kind of porous carbon nanotube electrolysis water catalyst of N doping and preparation method thereof of CoP nano particle insertion
CN1792432A (en) Method for preparing carbon nanometer material carried with noble metal(S)
Ma et al. Streamlined mesoporous silica nanoparticles with tunable curvature from interfacial dynamic-migration strategy for nanomotors
Liu et al. Interfacial superassembly of light-responsive mechanism-switchable nanomotors with tunable mobility and directionality
Wang et al. A practical guide to analyzing and reporting the movement of nanoscale swimmers
Chen et al. Nanomaterials meet microfluidics: improved analytical methods and high-throughput synthetic approaches
Ariga et al. Soft capsules, hard capsules, and hybrid capsules

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant