Semi-automated 3D Printing System for Magnetic-driven Microrobots

This paper presents a semi-automated micro 3D printing system for manufacturing magnetic-driven micro soft robots. Printing materials are placed in separate printing needles, which can be quickly filled and replaced during the printing process. The operator monitors the printing process through microscopes and digital cameras and modifies printing parameters at any time to improve the stability of the printing process. Each hardware device is modularized and abstracted in the software by the order command sequence that executes the kernel according to the pre-edited script. The operator specifies and modifies the action sequence and time of each device easily and quickly during the 3D printing process. A variety of materials for magnetic-driven microrobots can be printed with this 3D printing system.