A New Propulsion System for Microswimmer Robot and Optimizing Geometrical Parameters Using PSO Algorithm

摘要

Mini and micro robots, which can swim in an underwater environment, have drawn widespread research interests because of their potential applications to the clinical drug delivery, biotechnology, manufacturing, mobile sensor networks, etc. In this paper, a prototype of microrobot based on the motion principle of living microorganisms such as E. Coli Bacteria is presented. The properties of this propulsive mechanism are estimated by modeling the dynamics of the swimming methods. For dynamic modeling and analysis of a tiny microrobot, which composed of a spherical head and four helix tail, the resistance force theory (RFT) is used to calculate thrust force, required torque, linear and angular velocities and then these physical and geometrical parameters are used to optimize the microrobot. In addition, a novel design method for determining the optimal geometrical parameters of dynamic system using the particle swarm optimization (PSO) reinforcement evolutionary algorithm is presented. Finally, the dynamical behavior of the optimized microrobot are simulated and the results are presented.