首页|Complex dynamics of a magnetic microrobot driven by single deformation soft tail in random environment
Complex dynamics of a magnetic microrobot driven by single deformation soft tail in random environment
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This study focuses on exploring the complex dynamical behaviors of a magnetic microrobot in a random environ-ment.The purpose is to reveal the mechanism of influence of random disturbance on microrobot dynamics.This paper establishes stochastic dynamic models for the microrobot before and after deformation,considering the in-fluence of Gaussian white noise.The system responses are analyzed via steady-state probability density functions and first deformation time.The effects of different magnetic field strengths and fluid viscosities on the movement speed and angular velocity of the microrobot are studied.The results indicate that random disturbances can cause deformation of microrobots in advance compared to the deterministic case.This work contributes to the design and motion control of microrobots and enhances the theoretical foundation of microrobots.
Magnetic microrobotStochastic dynamic modelsRandom disturbances
Xinpeng Shi、Yongge Li、Yong Xu、Qi Liu
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School of Mathematics and Statistics,Northwestern Polytechnical University,Xi'an 710072,China
Research&Development Institute of Northwestern Polytechnical University in Shenzhen,Shenzhen 518063,China
MOE Key Laboratory for Complexity Science in Aerospace,Northwestern Polytechnical University,Xi'an 710072,China
Department of Systems and Control Engineering,Tokyo Institute of Technology,Tokyo 152-8552,Japan
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