从机器人到微纳机器人：改变的不止是尺寸

With the wide application of robotics in industrial, healthcare, service, education and military fields, the traditional macro-robotics technology is gradually unable to meet the growing demand for miniaturization, refinement and highly integrated functions. As an emerging branch in the field of robotics, micro/nanorobots (MNRs) have become a hotspot and frontier of research because of their micro size, large thrust-to-weight ratio, good controllability and strong expandability. By reviewing the development history of robotics, the four stages of robot development and five generations of power conversion are analyzed in detail, and the technical characteristics that robots should have are summarized. On this basis, the development history, connotation and technological stage of MNRs are discussed in-depth, focusing on the analysis of the fundamental changes from macro robots to MNRs in terms of medium environment, drive mode, transport mode and multifunctional coupling mode and other technical characteristics, as well as the technological challenges brought about by these changes. In particular, the advanced changes of MNRs are discussed in detail from four aspects, namely, design, manufacturing, control and testing. Finally, future directions and suggestions for the development of MNRs are presented. By exploring these issues in detail, theoretical guidance and practical basis are provided for the development of future robotics technology. It is expected that MNRs technology can achieve breakthroughs in more fields, provide new technical solutions for precision medicine, environmental governance, micro-and nanomanufacturing, etc., and promote the continuous progress of society and science and technology.