Study on magnetic and mechanical dynamic model of a wireless micro robot

This paper puts forward a new method to drive and control micro in-pipe robot by means of magnetic field outside pipe, the operation principal is as follows, wireless micro robot can move forward driven by the vibration of its legs by means of converting magnetic energy into mechanical one under the action of piezomagnetism and magnetomechanical coupling of its micro GMA when time varied oscillating magnetic field with different frequency applied outside pipe. This paper introduces its systematical structure and operation principle firstly, then the converting process from outside magnetic energy into mechanical one is analyzed by means of setting up the magnetic and mechanical dynamic model and establishing dynamic model of two stage amplifier of mobile carrier. Finally robot systematical experiment is conducted, the experiment shows the correctness of the theoretical analysis and its feasibility, consequently, drive and control method without cable through outside magnetic field is realized.