Remotely Actuated Optothermal Robotic Microjoints Based on Spiral Bimaterial Design

In this article, we propose laser actuated microjoints which can be remotely in both air and water. Their actuation relies on the optothermal response of a spiral bimaterial. The are fabricated using two-photon polymerization technology that offers ability to tune thermal mechanical properties material by controlling printing power. Modeling is first conducted verify parameters affect rotational displacement generated torque microjoint. Then, having diameter less than 200 $\mu$ m characterized. realize maximum deflection approximately 8.5 notation="LaTeX">$^{\circ }$ , force N-order 265- long arm, an repeatability more 100 times, time 34 ms. Finally, implemented microgripper xy serial microarm. Successful micromanipulation 40 microbeads microgripper, simultaneous multiple microarm with two degrees freedom shown. This kind rotational, compact, selective, would allow deployment individually controlled mobile microrobots several for complex applications such as cell manipulation microassembly.