Impact of passive links configuration on swimming microrobot behavior

Author

Srairi, F. ; Meguellati, M. ; Djeffal, F. ; Saidi, L.

Author_Institution

Dept. of Electron., Univ. of Batna, Batna, Algeria

fYear

2014

Firstpage

558

Lastpage

561

Abstract

This paper is dedicated to an analytical modeling of multi-links microrobot design, and to study the effects of their passive links on the microrobot performances. Also, in order to show the influence of the passive links on the device performance, the impact of the number and shape of passive links on the device behavior is presented. In this context, five natures of tails are presented and investigated to obtain the best performance, which can be provided by the microrobot. However, the results show that the microrobot with an odd number of links has higher performance in comparison with that which has a pair number of links configuration. Moreover, the obtained results show that the electromechanical performance is improved when the number of the passive links is augmented in the case of the microrobot with an odd number configuration.

Keywords

control system synthesis; marine control; marine vehicles; microrobots; mobile robots; device behavior; electromechanical performance; multilinks microrobot design; passive links configuration; swimming microrobot behavior; Analytical models; Fabrication; Fluids; Force; Hydrodynamics; Performance evaluation; Robots; IPCM; active joint; fluid; microrobot; passive link; thrust force;

fLanguage

English

Publisher

ieee

Conference_Titel

Sciences and Techniques of Automatic Control and Computer Engineering (STA), 2014 15th International Conference on

Type

conf

DOI

10.1109/STA.2014.7086677

Filename

7086677