Complex dynamics of a magnetic microrobot driven by single deformation soft tail in random environment  

作　　者：Xinpeng Shi Yongge Li Yong Xu Qi Liu 

机构地区：[1]School of Mathematics and Statistics,Northwestern Polytechnical University,Xi’an 710072,China [2]Research&Development Institute of Northwestern Polytechnical University in Shenzhen,Shenzhen 518063,China [3]MOE Key Laboratory for Complexity Science in Aerospace,Northwestern Polytechnical University,Xi’an 710072,China [4]Department of Systems and Control Engineering,Tokyo Institute of Technology,Tokyo 152-8552,Japan

出　　处：《Theoretical & Applied Mechanics Letters》2024年第5期402-408,共7页力学快报（英文版）

基　　金：supported by the National Nature Science Foundation of China(Grant Nos.12072264 and 12272296);the Key International(Regional)Joint Research Program of the National Science Foundation of China(Grant No.12120101002);the National Science Foundation of Chongqing,China(Grant No.cstc2021jcyj-msxm X0738);the National Science Foundation of Guangdong Province,China(Grant No.2023A1515012329)。

摘　　要：This study focuses on exploring the complex dynamical behaviors of a magnetic microrobot in a random environment.The purpose is to reveal the mechanism of influence of random disturbance on microrobot dynamics.This paper establishes stochastic dynamic models for the microrobot before and after deformation,considering the influence of Gaussian white noise.The system responses are analyzed via steady-state probability density functions and first deformation time.The effects of different magnetic field strengths and fluid viscosities on the movement speed and angular velocity of the microrobot are studied.The results indicate that random disturbances can cause deformation of microrobots in advance compared to the deterministic case.This work contributes to the design and motion control of microrobots and enhances the theoretical foundation of microrobots.

关 键 词：Magnetic microrobot Stochastic dynamic models Random disturbances 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]