Biomimetic Swimming Micro Robot Driven by Giant Magnetostrictive Thin Films

A micro biomimetic swimming robot based on Giant Magnetostrictive thin Film(GMF) actuator is developed.When time varying oscillating magnetic field with different frequencies is externally applied,this robot converts magnetic energy into mechanical vibration of its GMF actuator,which acts as a fish caudal fin under the action of magneto mechanical coupling of its GMF,therefore propulsive force is generated through the coupling between vibrating GFM and liquid.For the reason that GFM is driven in a non-contact way,the robot is driven wirelessly.Based on biomimetic swimming principle,a mathematical model for calculating propulsive force is proposed,based on which propulsive forces are calculated respectively where the mode shapes of our established GFM forced oscillation model at the first three order resonance frequencies are used as swing motion of the caudal fin.Experiments show the validity of the theoretical analysis and the feasibility of the research proposal on micro biomimetic swimming robot.