VLEIBot：一种由仿生鳗鱼式推进器驱动的新型45-mg游泳微型机器人
VLEIBot: A New 45-mg Swimming Microrobot Driven by a Bioinspired Anguilliform Propulsor
AI总结：
本文提出了一种由仿生鳗鱼式推进器和高做功密度微驱动器驱动的45-mg微型游泳机器人VLEIBot，并通过双推进器设计演化出二维全可控的VLEIBot^+，实现了高达16.1mm/s的游泳速度和低至4mm的路径跟踪误差。
摘要：
本文提出了VLEIBot^*（Very Little Eel-Inspired roBot），一种由仿生鳗鱼式推进器推进的45-mg/23-mm^3微型机器人游泳器。该推进器由单个6-mg高做功密度（HWD）微驱动器激励，并在游泳过程中由于流固耦合（FSI）产生的波传播现象而周期性波动。该微驱动器由作为板弹簧的碳纤维梁和形状记忆合金（SMA）线组成，后者在使用焦耳热周期性激励时会发生循环变形。当使用启发式优化的推进器驱动时，VLEIBot的游泳速度高达15.1mm * s^{-1}（0.33 Bl * s^{-1}}）。为了提高机动性，我们将VLEIBot的设计演化为90-mg/47-mm^3的VLEIBot^+，它由两个推进器驱动并在二维（2D）空间内完全可控。当使用启发式优化的推进器驱动时，VLEIBot^+的游泳速度高达16.1mm * s^{-1}（0.35 Bl * s^{-1}），并且在跟踪路径参考时实现高达0.28 rad * s^{-1}的转向速率。测得的跟踪误差均方根（RMS）值低至4 mm。
英文摘要：
This paper presents the VLEIBot^* (Very Little Eel-Inspired roBot), a 45-mg/23-mm^3 microrobotic swimmer that is propelled by a bioinspired anguilliform propulsor. The propulsor is excited by a single 6-mg high-work-density (HWD) microactuator and undulates periodically due to wave propagation phenomena generated by fluid-structure interaction (FSI) during swimming. The microactuator is composed of a carbon-fiber beam, which functions as a leaf spring, and shape-memory alloy (SMA) wires, which deform cyclically when excited periodically using Joule heating. The VLEIBot can swim at speeds as high as 15.1mm * s^{-1} (0.33 Bl * s^{-1}}) when driven with a heuristically-optimized propulsor. To improve maneuverability, we evolved the VLEIBot design into the 90-mg/47-mm^3 VLEIBot^+, which is driven by two propulsors and fully controllable in the two-dimensional (2D) space. The VLEIBot^+ can swim at speeds as high as 16.1mm * s^{-1} (0.35 Bl * s^{-1}), when driven with heuristically-optimized propulsors, and achieves turning rates as high as 0.28 rad * s^{-1}, when tracking path references. The measured root-mean-square (RMS) values of the tracking errors are as low as 4 mm.
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