Research Papers

Wireless Swimming Microrobot: Design, Analysis, and Experiments

[+] Author and Article Information
Yongshun Zhang

Department of Aerospace Engineering, Ryerson University, 350 Victoria Street, Toronto, ON, M5B 2K3, Canada

Guangjun Liu1

Department of Aerospace Engineering, Ryerson University, 350 Victoria Street, Toronto, ON, M5B 2K3, Canadagjliu@ryerson.ca


Corresponding author.

J. Dyn. Sys., Meas., Control 131(1), 011004 (Dec 05, 2008) (8 pages) doi:10.1115/1.3023137 History: Received February 27, 2007; Revised August 05, 2008; Published December 05, 2008

This paper presents a bidirectional wireless swimming microrobot that has been developed, analyzed, and experimentally tested. The robot is developed based on fin beating propulsion, using giant magnetostrictive films for head and tail fins. An innovative drive approach, using separate second order resonance frequencies of the head and tail fins to generate forward and backward thrusts, is proposed and implemented on a bidirectional swimming microrobot prototype. Dynamic model of the proposed microrobot has been derived based on theoretical analysis. Simulation and experimental results have demonstrated the feasibility of the proposed drive approach and design. The developed swimming microrobot features a low driving frequency, low power consumption, and a large range of swimming speed in both the forward and backward directions.

Copyright © 2009 by American Society of Mechanical Engineers
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Figure 5

Mean propulsive force varies with driving frequency

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Figure 6

Mean swimming speed varies with driving frequency

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Figure 7

Velocity varies with second order resonance frequency

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Figure 8

Bidirectional drive speed versus driving frequency for three different strengths of magnetic field

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Figure 9

Swimming efficiency of robot versus excitation frequencies

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Figure 10

Experimental setup: (a) the overall setup and (b) the schematic

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Figure 11

Experiment results of the swimming robot prototype

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Figure 1

A swimming microrobot prototype and test setup: (a) prototype and (b) test setup

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Figure 2

Stress analysis of a GMF fin and its equivalent moment

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Figure 3

Motion and propulsive force analysis of a fin

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Figure 4

Motion tendency of three sections in the first quarter of a cycle



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