Driving principle and dynamic analysis of a micro swimming robot

In this paper, an underwater microrobot driven by external energy field is developed, FMP (Ferromagnetic polymer) actuator is utilized. The size of the underwater microrobot prototype is 3 mm in length, 2 mm in width, and 0.4 mm in thickness. 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 mm/s∼1 mm/s. The paper emphasizes on the driving principle and the dynamic analysis of the microrobot, and the model accords with the experiment result significantly well. The experimental results indicate that the swimming speed can be controlled by changing the frequency and the intensity of the magnetic field.