论文标题
主动齿轮的旋转控制，互锁和自定位
Rotation Control, Interlocking and Self-positioning of Active Cogwheels
论文作者
论文摘要
齿轮和齿轮将自由度和通道的功率限制为指定运动。它们是宏观机器的基本组件。相互关联的微型运动类似地构成了可行微机械的关键要素。它们的组装，定位和控制是Microscale的挑战，那里的噪声无处不在。在这里，我们展示了一个自动旋转齿轮的组装和控制，它们的牙齿数量变化，并研究多种齿轮系统中的互锁机制。 CogWheels是自主和活跃的，牙齿由胶体微晶状体形成，可为结构供电，并控制其旋转速率。利用光学涡旋的光动量，我们控制了齿轮的旋转方向。我们研究了一对互锁的齿轮，它们在随机步行和曲率依赖性迁移率中相互滚动。我们利用此功能来实现齿轮曲率和程序微型机器的结构上的自定位，特别是证明了拾起，置换和释放负载的能力。这项工作强调了使用自定位组件在微观尺度上尚未开发的制造机会，并构成了迈向自主和可编程微型机器人的重要一步。
Gears and cogwheels restrain degrees of freedom and channel power into a specified motion. They are fundamental components of macroscopic machines. Interlocking microrotors similarly constitute key elements toward feasible micromachinery. Their assembly, positioning and control is a challenge at microscale, where noise is ubiquituous. Here, we show the assembly and control of a family of self-spinning cogwheels with varying teeth numbers and study interlocking mechanisms in systems of multiple cogwheels. The cogwheels are autonomous and active, with teeth formed by colloidal microswimmers that power the structure, and control its rotation rate. Leveraging the angular momentum of light with optical vortices, we control the direction of rotation of the cogwheels. We study pairs of interlocking cogwheels, that roll over each other in a random walk and curvature-dependent mobility. We leverage this feature to achieve self-positioning of cogwheels on structures with variable curvature and program microbots, notably demonstrating the ability to pick up, displace and release a load. This work highlights untapped opportunities of manufacturing at microscale using self-positioning components and constitutes an important step towards autonomous and programmable microbots.
