从机器人到微纳机器人：改变的不止是尺寸

doi:10.3901/JME.2024.23.001

摘要/Abstract

摘要： 随着机器人技术在工业、医疗、服务、教育和军事等领域的广泛应用，传统的宏观机器人技术逐渐无法满足日益增长的微型化、精细化和功能高度集成化需求。微纳机器人作为机器人领域的新兴分支，因其尺寸小、推重比大、可控性好、拓展性强，成为研究的热点和前沿。通过回顾机器人技术的发展历程，详细分析了机器人发展的四个阶段和五代动力转换，并总结了机器人应具备的技术特征。在此基础上，对微纳机器人的发展历程、内涵及所处技术阶段进行了深入探讨，重点分析了从宏观机器人到微纳机器人在介质环境、驱动方式、运载方式和多功能耦合方式等技术特征的基础性改变，以及这些改变带来的技术挑战。重点从设计、制造、控制和检测四个方面，深入探讨了微纳机器人的深层次变化。最后，提出了微纳机器人技术的未来发展方向和建议。通过对这些问题的详细探讨，为未来机器人技术的发展提供了理论指导和实践基础。期望微纳机器人技术能够在更多领域实现突破，为精准医疗、环境治理、微纳制造等提供新的技术解决方案，推动社会和科技的持续进步。

关键词: 微纳机器人, 机器人, 检测, 控制, 设计, 制造

Abstract: With the wide application of robotics in industrial, healthcare, service, education and military fields, the traditional macro-robotics technology is gradually unable to meet the growing demand for miniaturization, refinement and highly integrated functions. As an emerging branch in the field of robotics, micro/nanorobots (MNRs) have become a hotspot and frontier of research because of their micro size, large thrust-to-weight ratio, good controllability and strong expandability. By reviewing the development history of robotics, the four stages of robot development and five generations of power conversion are analyzed in detail, and the technical characteristics that robots should have are summarized. On this basis, the development history, connotation and technological stage of MNRs are discussed in-depth, focusing on the analysis of the fundamental changes from macro robots to MNRs in terms of medium environment, drive mode, transport mode and multifunctional coupling mode and other technical characteristics, as well as the technological challenges brought about by these changes. In particular, the advanced changes of MNRs are discussed in detail from four aspects, namely, design, manufacturing, control and testing. Finally, future directions and suggestions for the development of MNRs are presented. By exploring these issues in detail, theoretical guidance and practical basis are provided for the development of future robotics technology. It is expected that MNRs technology can achieve breakthroughs in more fields, provide new technical solutions for precision medicine, environmental governance, micro-and nanomanufacturing, etc., and promote the continuous progress of society and science and technology.

Key words: micro/nanorobot, robot, testing, control, design, manufacturing

中图分类号:

TP242

李隆球, 刘军民, 庄仁诚, 常晓丛, 周德开. 从机器人到微纳机器人：改变的不止是尺寸[J]. 机械工程学报, 2024, 60(23): 1-20.

LI Longqiu, LIU Junmin, ZHUANG Rencheng, CHANG Xiaocong, ZHOU Dekai. From Robot to Micro/nanorobot: Changes Not Only Dimensions[J]. Journal of Mechanical Engineering, 2024, 60(23): 1-20.

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