Title :
Dynamic analysis and experiment of a 3mm swimming microrobot
Author :
Zhang, Yi ; Wang, Qimin ; Zhang, Peiqiang ; Wang, Xiaohua ; Mei, Tao
Author_Institution :
Sch. of Eng. Sci., China Univ. of Sci. & Technol., Hefei, China
fDate :
28 Sept.-2 Oct. 2004
Abstract :
A swimming microrobot driven by FMP (ferromagnetic polymer) actuators under magnetic field is developed. The size of the swimming microrobot is 3 mm × 2 mm × 0.4 mm. The robot can swim when the magnetic intensity is higher than 8 mT and the frequency is about 10 Hz, with the speed of 0.3∼1 mm/s. Dynamic analysis of the microrobot is performed, and the results fit the experiment data reasonably. The experimental results indicate that the driving method is effective and the swimming speed can be controlled by modifying the intensity of magnetic field.
Keywords :
actuators; microrobots; mobile robots; 0.3 to 1 mm/s; 0.4 mm; 10 Hz; 2 mm; 3 mm; ferromagnetic polymer actuator; magnetic field; magnetic intensity; swimming microrobot; swimming speed; Actuators; Magnetic analysis; Magnetic fields; Medical treatment; Microactuators; Performance analysis; Polymers; Robots; Surface-mount technology; Underwater cables;
Conference_Titel :
Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8463-6
DOI :
10.1109/IROS.2004.1389648
