Dynamics Evaluation of a Magnetic Actuated Soft Bionic Minirobot with Paired Fin

This study introduced a combination of mechanical modeling and numerical simulation to investigate the swimming characteristics and dynamic mechanisms of micro magnetically-controlled bionic soft robot with paired fin. The primary focus was on the integrated modeling and simulation of the magnetic torque transmission-soft body deformation and overall motion-fluid response process within the motion chain, including the design of mechanical structures, motion strategies, structural orderliness and stability, and propulsion performance. Meanwhile, this research explored the complex flow disturbances and flow control mechanisms during the swimming of micro magnetically-controlled biorobotic robot, thereby revealing potential hydrodynamic advantages in their locomotion. The contribution of this study was not only significant for the dynamic principles of micro magnetically-controlled flexible robot motion but also provide theoretical and technical support for the optimized design and formation control of biorobotic soft robot and micro/nano medical robots working in the narrow space.