Palladium Microactuators and Origami Algorithms for Next Generation Microrobotics
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Origami is an ancient art form that has found itself used in various scientific fields, from space exploration to developing microrobots. This thesis focuses on folding on the micrometer scale and presents a new palladium based microactuator that can be used to build robots on the micron scale, as well as some new theoretical computational designs for universality results. By working closely with world experts in material science and chemistry, we are able to understand the material science behind palladium. In addition, working with microfabrication experts and the world expert in computational origami has allowed us to design and build simple demonstrations which can one day be built into more complex machines to achieve microscale origami robots that can shape shift into any shape.
折纸是一门传承千年的古老艺术形式。而如今这一项艺术却在许多科学领域中有所运用，从太空探索到微型机器人的开发。这篇博士论文研发了微米级别的折叠技术。其中重点为一种基于钯的新型促动机（日后可用于构建微米级机器人），以及一些通用性的计算折纸理论。通过与材料科学和化学领域的世界专家密切合作，我们解析了钯背后的材料科学原理。与此同时，跟纳米技术以及计算折纸领域里的专家的合作促使了我们的设计和构建纳米折纸的能力。本篇博士论文中展示了一些简单的装置，它们有朝一日可以集成到更复杂的微纳米机器中，从而来创造能够变形为任何形状的微米级折纸机器人。