This paper presents a bidirectional wireless swimming microrobot that has been developed, analyzed, and experimentally tested. The robot is developed based on fin beating propulsion, using giant magnetostrictive films for head and tail fins. An innovative drive approach, using separate second order resonance frequencies of the head and tail fins to generate forward and backward thrusts, is proposed and implemented on a bidirectional swimming microrobot prototype. Dynamic model of the proposed microrobot has been derived based on theoretical analysis. Simulation and experimental results have demonstrated the feasibility of the proposed drive approach and design. The developed swimming microrobot features a low driving frequency, low power consumption, and a large range of swimming speed in both the forward and backward directions.
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e-mail: gjliu@ryerson.ca
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January 2009
Research Papers
Wireless Swimming Microrobot: Design, Analysis, and Experiments
Yongshun Zhang,
Yongshun Zhang
Department of Aerospace Engineering,
Ryerson University
, 350 Victoria Street, Toronto, ON, M5B 2K3, Canada
Search for other works by this author on:
Guangjun Liu
Guangjun Liu
Department of Aerospace Engineering,
e-mail: gjliu@ryerson.ca
Ryerson University
, 350 Victoria Street, Toronto, ON, M5B 2K3, Canada
Search for other works by this author on:
Yongshun Zhang
Department of Aerospace Engineering,
Ryerson University
, 350 Victoria Street, Toronto, ON, M5B 2K3, Canada
Guangjun Liu
Department of Aerospace Engineering,
Ryerson University
, 350 Victoria Street, Toronto, ON, M5B 2K3, Canada
e-mail: gjliu@ryerson.ca
J. Dyn. Sys., Meas., Control. Jan 2009, 131(1): 011004 (8 pages)
Published Online: December 5, 2008
Article history
Received:
February 27, 2007
Revised:
August 5, 2008
Published:
December 5, 2008
Citation
Zhang, Y., and Liu, G. (December 5, 2008). "Wireless Swimming Microrobot: Design, Analysis, and Experiments." ASME. J. Dyn. Sys., Meas., Control. January 2009; 131(1): 011004. https://doi.org/10.1115/1.3023137
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