关键词: NdFeB, 仿生游动, 微型机器人

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: Biomimetic swimming, Micro robot, NeFeB