Analytical modeling and optimization of new swimming microrobot design using genetic algorithm computations

In this paper, a new microrobot design and its analytical analysis have been proposed, investigated and expected to improve the performance, robustness and fabrication process for microrobot-based applications. The analytical model has been developed to predict and compare the performance of the proposed design and conventional one, where the comparison of microrobot architectures shows that the proposed design exhibits a superior performance with respect to the conventional microrobot in terms of fabrication process and electromechanical performances. The analytical model is developed to compute the thrust force generated by a multi-link tail. The proposed design is developed using a nonlinear model-based approach for magnetical control of our microrobot. In addition, multiobjective genetic algorithm (MOGAs) based approach is developed to optimize both, the microrobot geometrical dimension and electromechanical parameters, in order to increase the performance and robustness behavior of the microrobot design. Our results make the proposed design a promising candidate for future microrobot-based applications.