多机器人协同制造微结构表面，实现高效低成本规模化生产。
Manufacturing Micro-Patterned Surfaces with Multi-Robot Systems
- 用多机器人系统配合遍历控制算法，实现微图案的分布式协同制造。
- 实验表明机器人制造可降低金属表面摩擦系数，提升物理性能。
- 适合需要大规模微结构表面制造的工业场景，如航空航天、生物医学。
在表面上应用微图案已被证明能赋予其减阻、疏水等有用物理特性。然而，当前制造技术因高成本设备和低效覆盖方法（如光栅扫描）难以实现规模化生产。本文采用配备图案化工具的多机器人系统进行制造。为实现机器人间的协调，使用遍历控制算法，通过分布函数定义覆盖目标。在仿真与实验中均验证了机器人可通过通信压缩轨迹历史信息，有效分解复杂覆盖任务。此外，实验显示机器人制造的图案可显著降低金属表面的摩擦系数。本工作证明，分布式多机器人系统能够协同制造此前无法规模化实现的微结构产品。
原文摘要 · Abstract (English)
Applying micro-patterns to surfaces has been shown to impart useful physical properties such as drag reduction and hydrophobicity. However, current manufacturing techniques cannot produce micro-patterned surfaces at scale due to high-cost machinery and inefficient coverage techniques such as raster-scanning. In this work, we use multiple robots, each equipped with a patterning tool, to manufacture these surfaces. To allow these robots to coordinate during the patterning task, we use the ergodic control algorithm, which specifies coverage objectives using distributions. We demonstrate that robots can divide complicated coverage objectives by communicating compressed representations of their trajectory history both in simulations and experimental trials. Further, we show that robot-produced patterning can lower the coefficient of friction of metallic surfaces. This work demonstrates that distributed multi-robot systems can coordinate to manufacture products that were previously unrealizable at scale.
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