Turning performance of fish-type microrobot driven by external magnetic field
Turning performance of fish-type microrobot driven by external magnetic field
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DOI：
10.1109/tmag.2005.855154
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发表时间：
2005-04
影响因子：
2.1
通讯作者：
M. Tomie;A. Takiguchi;T. Honda;J. Yamasaki
中科院分区：
文献类型：
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作者：
M. Tomie;A. Takiguchi;T. Honda;J. Yamasaki
将一种基于流体动力学的转向方法应用于磁驱动鱼式微型机器人。该机器人的游动推进器由磁铁和带尾鳍的悬臂梁组成，可由外部交变磁场驱动。为了实现鱼类的转向，鳍的运动由外部磁场的波形控制。设计了两种波形的磁场模式，用于尾鳍的转向。水槽试验的结果表明，微型机器人在两种波形下都表现出良好的转向性能。
A new turning method based on hydrodynamics was applied for a magnetically driven fish-type microrobot. The swimming propulsor of the robot consists of a magnet and a cantilever with a caudal fin, and can be driven by external alternating magnetic fields. In order to realize a fish-like turning, the fin motion was controlled by the waveform of the external magnetic fields. Two waveform patterns of the magnetic fields were designed for the turning by the caudal fin. As a result of the water tank test, the microrobot showed good turning performance under both waveform patterns.