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Abstract: A micro biomimetic swimming robot based on NdFeB magnet is
developed. Its working principle is to convert magnetic energy into
mechanical vibration of its head with NdFeB magnet which actuates the
vibration of copper tail fin on the action of piezomagnetism and magneto
mechanical coupling of its NdFeB magnet when time varied oscillating
magnetic field with different frequencies externally applied, then
propulsive force produced under the action of coupling between vibrated
tail fin and liquid. For the reason that NdFeB magnet is driven in
non-contact way, it is needless for robot to carry cable. Based on
cantalever beam model with mini vibration at stationary end, undulation
equation of tail fin is established according to force oscillation
model, in addition, based on biomimetic swimming principle, a
mathematical model for calculating propulsive force is proposed, on which
propulsive forces generated by the input value of tail fin vibration in
shape modes of the first three stage resonance frequencies are
calculated respectively as to find out the relationship between
propulsive forces and shape modes. Experiments show the correctness of
the theoretical analysis and the feasibility of the research proposal on
micro biomimetic swimming robot.
Key words: Micro robot NeFeB Biomimetic swimming
CLC No: TP242.2
国家自然科学基金(60275034，50275021)和辽宁省自然科学基金(20021061，20032119)资助项目.
Received 20041103, received in revised form 20050310
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