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Dynamics and Control of a Novel Microrobot with High Maneuverability

Published online by Cambridge University Press:  20 January 2021

Alireza Esfandbod ,
Hossein Nejat Pishkenari Open the ORCID record for Hossein Nejat Pishkenari [Opens in a new window]  and
Ali Meghdari
Alireza Esfandbod
Affiliation:
Nano Robotics Laboratory, Mechanical Engineering Department, Sharif University of Technology, Tehran, P.O. Box: 11155-9567, Iran E-mails: Alirezaesfandbod@gmail.com, Meghdari@sharif.edu
Hossein Nejat Pishkenari*
Affiliation:
Nano Robotics Laboratory, Mechanical Engineering Department, Sharif University of Technology, Tehran, P.O. Box: 11155-9567, Iran E-mails: Alirezaesfandbod@gmail.com, Meghdari@sharif.edu
Ali Meghdari
Affiliation:
Nano Robotics Laboratory, Mechanical Engineering Department, Sharif University of Technology, Tehran, P.O. Box: 11155-9567, Iran E-mails: Alirezaesfandbod@gmail.com, Meghdari@sharif.edu
*
*Corresponding author. E-mail: nejat@sharif.edu
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Summary

In this study, we introduce a novel three-dimensional micro-scale robot capable of swimming in low Reynolds number. The proposed robot consists of three rotating disks linked via three perpendicular adjustable rods, actuated by three rotary and three linear motors, respectively. The robot mechanism has an important property which makes it superior to the previously designed micro swimmers. In fact, our goal is designing a micro swimmer which its controllability matrix has full rank and hence it will be capable to perform any desired maneuver in space. After introducing the mechanism and derivation of the dynamical equations of motion, we propose a control method to steer the robot to the desired position and orientation in the presence of external disturbances in the low Reynolds number flow. Simulation results confirm the successful performance of the proposed mechanism and employed control method demonstrating high maneuverability of microrobot.

Keywords

MicrorobotLow Reynolds number swimmerControllability matrixDynamics
Type
Article
Information
Robotica , Volume 39 , Issue 10 , October 2021 , pp. 1729 - 1738
Copyright
© The Author(s), 2021. Published by Cambridge University Press

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