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<p>Magnetic microrobots are an increasingly popular area of research with a wide range of potential applications including healthcare. These microrobots can be remotely controlled using an external magnetic field to perform various motions such as jumping, swimming, crawling, rolling, and grabbing. This could enable intricate tasks such as drug delivery, stent placements, and wound patching. However, fabricating microrobots is a challenging multi-step process that can take several hours or even days. Therefore, it is important to have an accurate, reproducible, and automated fabrication method. In this work, an existing fully automated stereolithography printer is tested to fabricate magnetic soft robots with voxel sizes smaller than half a millimeter. The work focuses on updating the optics to create a smaller spot size (400 <InlineEquation ID="IEq1"> <EquationSource Format="TEX">\({\mu }\text{m}\)</EquationSource> </InlineEquation>) with more uniform curing distributions using a near ultraviolet beam shaper and a square aperture. The updated optics system in the printer is then used to print a ‛HEART’ sign and five microrobots: a ‛beam’, a ‛gripper’, a ‛pincher’, a ‛crawler’, and a ‛spring cap’, each of which was functionally tested using an externally applied magnetic field. </p>

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Automated 3D printing of programmable and functional magnetic soft microrobots

  • 期刊论文

  • 发表日期：

    2026年3月10日

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  • Siwen Xie,
  • Kaitlyn Clancy,
  • Onaizah Onaizah

摘要

Magnetic microrobots are an increasingly popular area of research with a wide range of potential applications including healthcare. These microrobots can be remotely controlled using an external magnetic field to perform various motions such as jumping, swimming, crawling, rolling, and grabbing. This could enable intricate tasks such as drug delivery, stent placements, and wound patching. However, fabricating microrobots is a challenging multi-step process that can take several hours or even days. Therefore, it is important to have an accurate, reproducible, and automated fabrication method. In this work, an existing fully automated stereolithography printer is tested to fabricate magnetic soft robots with voxel sizes smaller than half a millimeter. The work focuses on updating the optics to create a smaller spot size (400 \({\mu }\text{m}\) ) with more uniform curing distributions using a near ultraviolet beam shaper and a square aperture. The updated optics system in the printer is then used to print a ‛HEART’ sign and five microrobots: a ‛beam’, a ‛gripper’, a ‛pincher’, a ‛crawler’, and a ‛spring cap’, each of which was functionally tested using an externally applied magnetic field.