FilMBot用电磁驱动软薄膜结构，实现高速高精度微操作。
FilMBot: A High-Speed Soft Parallel Robotic Micromanipulator
- 采用低刚度软薄膜结构与强电磁驱动结合，提升响应速度。
- 角速度达2117°/s，线速度1.61m/s，路径跟踪精度约6.3μm。
- 结构简单成本低，适合科研外普及应用。
软体机器人虽具优异适应性与柔顺性，但普遍速度较慢，这一局限也存在于现有软体微操作机器人中。本文提出FilMBot，一种基于薄膜结构、电磁驱动的3自由度软运动学微操作机器人，其α与β角运动速度分别可达2117°/s和2456°/s，对应线速度为1.61m/s和1.92m/s（使用4厘米针状末端执行器），Z轴移动速度0.54m/s，Z轴形态切换时速达1.57m/s。在路径跟踪任务中可实现约1.50m/s的速度，工作带宽低于30Hz，且在50Hz下仍保持响应。路径跟踪精度约为6.3μm（约工作空间的0.05%），且在不同频率下保持稳定。该设计通过低刚度软膜结构与强电磁驱动的创新组合，为软体机器人开辟新方向。此外，其结构简单、组件廉价易得，有望推动微操作技术从学术研究走向更广泛的应用场景。
原文摘要 · Abstract (English)
Soft robotic manipulators are generally slow despite their great adaptability, resilience, and compliance. This limitation also extends to current soft robotic micromanipulators. Here, we introduce FilMBot, a 3-DOF film-based, electromagnetically actuated, soft kinematic robotic micromanipulator achieving speeds up to 2117 °/s and 2456 °/s in α and \{beta} angular motions, with corresponding linear velocities of 1.61 m/s and 1.92 m/s using a 4-cm needle end-effector, 0.54 m/s along the Z axis, and 1.57 m/s during Z-axis morph switching. The robot can reach ~1.50 m/s in path-following tasks, with an operational bandwidth below ~30 Hz, and remains responsive at 50 Hz. It demonstrates high precision (~6.3 μm, or ~0.05% of its workspace) in path-following tasks, with precision remaining largely stable across frequencies. The novel combination of the low-stiffness soft kinematic film structure and strong electromagnetic actuation in FilMBot opens new avenues for soft robotics. Furthermore, its simple construction and inexpensive, readily accessible components could broaden the application of micromanipulators beyond current academic and professional users.
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