Double-Modal Locomotion and Application of Soft Cruciform Thin-Film Microrobot

Abstract

Untethered, wirelessly controlled microrobots have a broad application prospect from industrial area, to the bioengineering due to their small scales. In a narrow environment containing viscous resistance and friction fluid, rigid body may damage the micro-objects that the microrobots manipulate. In this letter, we propose a new type of soft microrobot which is informed the Cruciform Thin-film Microrobot (CTM). This soft microrobot has two motion modes: jellyfish-like mode and forklift truck mode. The forklift truck mode helps to transport micro-objects. The heaviest object that CTM could carry is ten times weighter than its own. The CTM is controlled for s-shaped trajectory control. In this letter, we study the swimming properties of the microrobot. The maximum velocity of CTM is 8 mm/s. The velocity of the microrobot is inversely proportional to solution viscosity and proportional to magnetic field frequency. And the velocity is proportional to leg length and thickness. Load testing and manipulation test of the three microbeads to the same location are completed. The CTMs are of great significance for bioengineering and industrial microoperation. In future works, we will conduct more accurate trajectory control and manipulation performance tests.