A Miniature Flexible-Link Magnetic Swimming Robot With Two Vibration Modes: Design, Modeling and Characterization.

In this letter, we report a miniature swimming robot that consists of a nonmagnetic V-shaped head, an I-shaped tail attached with a magnet and a flexible link for interconnection of the rigid head and tail. The use of a flexible link enables the robot to exhibit two different vibration modes by tuning the input frequencies of the applied oscillating magnetic field with uniform field strength. When...