Turning performance of fish-type microrobot driven by external magnetic field

Author

Tomie, Masahiro ; Takiguchi, Atsushi ; Honda, Takashi ; Yamasaki, Jiro

Author_Institution

Dept. of Appl. Sci. for Integrated Syst. Eng., Kyushu Inst. of Technol., Kitakyushu, Japan

Volume

41

Issue

10

fYear

2005

Firstpage

4015

Lastpage

4017

Abstract

A new turning method based on hydrodynamics was applied for a magnetically driven fish-type microrobot. The swimming propulsor of the robot consists of a magnet and a cantilever with a caudal fin, and can be driven by external alternating magnetic fields. In order to realize a fish-like turning, the fin motion was controlled by the waveform of the external magnetic fields. Two waveform patterns of the magnetic fields were designed for the turning by the caudal fin. As a result of the water tank test, the microrobot showed good turning performance under both waveform patterns.

Keywords

magnetic fields; microrobots; permanent magnets; robot kinematics; caudal fin; external magnetic field; fin motion; fin oscillation; fish-like turning; fish-type microrobot; hydrodynamics; permanent magnet; swimming propulsor; turning performance; water tank test; waveform patterns; Arm; Magnetic fields; Mechanical factors; Motion control; Oscillators; Permanent magnets; Polyimides; Testing; Turning; Wires; External magnetic field; fin oscillation; microrobot; permanent magnet; turning performance;

fLanguage

English

Journal_Title

Magnetics, IEEE Transactions on

Publisher

ieee

ISSN

0018-9464

Type

jour

DOI

10.1109/TMAG.2005.855154

Filename

1519520