Wireless micro biomimetic swimming robot based on giant magnetostrictive films

A micro biomimetic swimming robot based on giant magnetostrictive thin film (GMF) actuator is developed. Its working principle is to convert magnetic energy into mechanical vibration of its GMF actuator on the action of piezomagnetism and magneto mechanical coupling of its micro GMF when oscillating magnetic field with different frequencies is externally applied, thereafter propulsive force on robot is generated under the coupling action between vibrating GFM and liquid. On basis of setting up dynamic model of GFM in cantilever structure according to force oscillation theory and establishing modeling of its undulatory motion, relationship between resonance modes of tail fin and propulsive forces on robot is analyzed. Swimming experimental results about robot prototype show the correctness of the theoretical analysis