Swimming mechanics of dragonfly nymph and the application to robotics

摘要

This paper concerned with the development of swimming micro mechanism based on the study of swimming functions and mechanisms of the minute organisms. At the beginning, this paper describes the swimming analysis of a dragonfly nymph using the high speed video camera system. It was found that dragonfly nymphs can swim skillfully by reciprocating motions consisting of a power stroke and a recovery stroke. Based on the swimming analysis of the dragonfly nymph, the micro swimming robot with the wireless energy supply system was produced. Driving elements of the micro swimming robot are composed of NdFeB permanent magnet, polystyrene body, and a polyethyleneterephthalate film fin. Frequency characteristics of the micro swimming robot propelled by the alternating magnetic field and small permanent magnet were examined experimentally.