Elucidation of propulsive force of microrobot using magnetic fluid

Abstract

Using the pattern of the peristaltic movement of an earthworm, a microrobot was developed for traveling in a tube using a magnetic fluid. In this microrobot, a cell equivalent to a segment of the earthworm is composed of a natural rubber tube into which a water-based magnetic fluid is sealed up. The cells are connected with rod-like elastic bodies of natural rubber. It was confirmed that this robot can travel in an acrylic tube (inner diameter: 12 mm, outer diameter: 14 mm) by providing a shifting magnetic field from the exterior. This article will describe how our microrobot is propelled, the mechanism of its propulsion, and the analytical results of the propulsive force.