A Miniature Flexible-Link Magnetic Swimming Robot With Two Vibration Modes: Design, Modeling and Characterization
A Miniature Flexible-Link Magnetic Swimming Robot With Two Vibration Modes: Design, Modeling and Characterization
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DOI：
10.1109/lra.2017.2718104
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发表时间：
2017-06
影响因子：
5.2
通讯作者：
Lidong Yang;Qianqian Wang;Chi-Ian Vong;Li Zhang
中科院分区：
文献类型：
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作者：
Lidong Yang;Qianqian Wang;Chi-Ian Vong;Li Zhang
在这封信中，我们报告了一种微型游泳机器人，它由一个非磁性的v形头部，一个附着磁铁的i形尾部和一个用于连接刚性头尾的柔性连杆组成。柔性连杆的使用，通过调节外加振荡磁场的输入频率，使磁场强度均匀，从而使机器人呈现两种不同的振动模式。当输入频率低于15 Hz时，头部和尾部表现出相似且较大的振动幅值，净离心力主要有助于机器人在流体中向前推进。而在高输入频率（即大于30 Hz）时，柔性连杆可以过滤掉高频信号，有效地避免非磁头的被动振动。同时，磁尾振动幅度较大，为机器人产生正向推进力。为了理解整个车身振动和尾部振动行为，建立了一个解析模型。此外，该机器人的游泳性能，即推进力和游泳速度在基材-水界面上进行了表征。最后，我们演示了利用机器人的两种振动模式对微小物体进行二维操作。
In this letter, we report a miniature swimming robot that consists of a nonmagnetic V-shaped head, an I-shaped tail attached with a magnet and a flexible link for interconnection of the rigid head and tail. The use of a flexible link enables the robot to exhibit two different vibration modes by tuning the input frequencies of the applied oscillating magnetic field with uniform field strength. When the input frequency is below 15 Hz, the head and tail show similar and large vibration amplitudes, and the net centrifugal force mainly contributes to the forward propulsion of the robot in fluid. While with high input frequencies (i.e., larger than 30 Hz), the flexible link can filter away high-frequency signals to efficiently avoid the passive vibration of the nonmagnetic head. Simultaneously, the magnetic tail vibrates with relatively large amplitude and generates forward propulsion force for the robot. To understand the whole-body-vibration and tail-vibration behaviors, an analytical model has been developed. Moreover, swimming performances of this robot, i.e., the propulsion force and swimming velocity, are characterized on the substrate–water interface. Finally, we demonstrate two-dimensional manipulation of tiny objects by utilizing the two vibration modes of the robot.