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A Novel Magnetic Actuation System for Miniature Swimming Robots

机译：新型微型游泳机器人的磁致动系统

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摘要

A novel mechanism for actuating a miniature swimming robot is described, modeled, and experimentally validated. Underwater propulsion is obtained through the interaction of mobile internal permanent magnets that move a number of polymeric flaps arranged around the body of the robot. Due to the flexibility of the proposed swimming mechanism, a different range of performances can be obtained by varying the design features. A simple multiphysics dynamic model was developed in order to predict basic behavior in fluids for different structural parameters of the robot. In order to experimentally verify the proposed mechanism and to validate the model, a prototype of the swimming robot was fabricated. The device is 35 mm in length and 18 mm in width and thickness, and the forward motion is provided by four flaps with an active length of 20 mm. The model was able to correctly predict flap dynamics, thrust, and energy expenditure for magnetic dragging within a spindle-frequency range going from 2 to 5 Hz. Additionally, the model was used to infer robot-thrust variation related to different spindle frequencies and a 25% increase in flap active length. Concerning swimming performance, the proposed technical implementation of the concept was able to achieve 37 mm/s with 4.9% magnetic mechanism efficiency.
机译：描述，建模和实验验证了一种用于致动微型游泳机器人的新颖机制。水下推进力是通过移动内部永磁体的相互作用获得的，该内部永磁体可移动围绕机器人主体布置的许多聚合物折板。由于所提出的游泳机构的灵活性，可以通过改变设计特征来获得不同范围的性能。为了预测机器人不同结构参数的流体基本行为，开发了一个简单的多物理场动力学模型。为了实验上验证提出的机制并验证模型，制造了游泳机器人的原型。该装置的长度为35毫米，宽度和厚度为18毫米，向前运动由四个活动长度为20毫米的襟翼提供。该模型能够正确预测2到5 Hz的主轴频率范围内的磁阻力的襟翼动力学，推力和能量消耗。此外，该模型还用于推断与不同主轴频率和襟翼有效长度增加25％有关的机器人推力变化。关于游泳性能，该概念的拟议技术实施能够以4.9％的电磁机构效率达到37 mm / s。

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