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| Main Authors: | , , , |
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| Format: | Preprint |
| Published: |
2024
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2403.07073 |
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| _version_ | 1866917787825340416 |
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| author | Blankenship, Elijah K. Trygstad, Conor K. Gonçalves, Francisco M. F. R. Pérez-Arancibia, Néstor O. |
| author_facet | Blankenship, Elijah K. Trygstad, Conor K. Gonçalves, Francisco M. F. R. Pérez-Arancibia, Néstor O. |
| contents | This paper presents the VLEIBot^* (Very Little Eel-Inspired roBot), a 45-mg/23-mm^3 microrobotic swimmer that is propelled by a bioinspired anguilliform propulsor. The propulsor is excited by a single 6-mg high-work-density (HWD) microactuator and undulates periodically due to wave propagation phenomena generated by fluid-structure interaction (FSI) during swimming. The microactuator is composed of a carbon-fiber beam, which functions as a leaf spring, and shape-memory alloy (SMA) wires, which deform cyclically when excited periodically using Joule heating. The VLEIBot can swim at speeds as high as 15.1mm * s^{-1} (0.33 Bl * s^{-1}}) when driven with a heuristically-optimized propulsor. To improve maneuverability, we evolved the VLEIBot design into the 90-mg/47-mm^3 VLEIBot^+, which is driven by two propulsors and fully controllable in the two-dimensional (2D) space. The VLEIBot^+ can swim at speeds as high as 16.1mm * s^{-1} (0.35 Bl * s^{-1}), when driven with heuristically-optimized propulsors, and achieves turning rates as high as 0.28 rad * s^{-1}, when tracking path references. The measured root-mean-square (RMS) values of the tracking errors are as low as 4 mm. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2403_07073 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | VLEIBot: A New 45-mg Swimming Microrobot Driven by a Bioinspired Anguilliform Propulsor Blankenship, Elijah K. Trygstad, Conor K. Gonçalves, Francisco M. F. R. Pérez-Arancibia, Néstor O. Systems and Control Robotics This paper presents the VLEIBot^* (Very Little Eel-Inspired roBot), a 45-mg/23-mm^3 microrobotic swimmer that is propelled by a bioinspired anguilliform propulsor. The propulsor is excited by a single 6-mg high-work-density (HWD) microactuator and undulates periodically due to wave propagation phenomena generated by fluid-structure interaction (FSI) during swimming. The microactuator is composed of a carbon-fiber beam, which functions as a leaf spring, and shape-memory alloy (SMA) wires, which deform cyclically when excited periodically using Joule heating. The VLEIBot can swim at speeds as high as 15.1mm * s^{-1} (0.33 Bl * s^{-1}}) when driven with a heuristically-optimized propulsor. To improve maneuverability, we evolved the VLEIBot design into the 90-mg/47-mm^3 VLEIBot^+, which is driven by two propulsors and fully controllable in the two-dimensional (2D) space. The VLEIBot^+ can swim at speeds as high as 16.1mm * s^{-1} (0.35 Bl * s^{-1}), when driven with heuristically-optimized propulsors, and achieves turning rates as high as 0.28 rad * s^{-1}, when tracking path references. The measured root-mean-square (RMS) values of the tracking errors are as low as 4 mm. |
| title | VLEIBot: A New 45-mg Swimming Microrobot Driven by a Bioinspired Anguilliform Propulsor |
| topic | Systems and Control Robotics |
| url | https://arxiv.org/abs/2403.07073 |