Multiphysics Dynamic Model Validation Methodology for Laser-Driven Microrobots

摘要

In this paper we discuss a comprehensive multiphysics modeling and simulation approach with experimental validation, aimed at understanding the behavior of laser-driven microrobot locomotion on two-dimensional (2D) substrates. The ChevBot is a novel class of light actuated sub-millimetric microrobots that can perform tasks equivalent to mobile robots in future microfactories for nano-bio-technology. The robot dynamics is driven by a complex Opto-Thermo-Mechanical conversion mechanism and stick-and-slip locomotion, which are difficult to simulate. Therefore, 1D and 2D reduced order models are proposed to approximate the microrobot dynamics. Models are then validated using a combination of Finite Element Analysis simulations and direct experimentation. The framework presented here automates the process of collecting motion tracking data from microrobots and uses it to validate dynamic models. In the future, our models can be used in subsequent closed-loop control and design optimization studies.