Analytical models and optimization of novel swimming microrobot using ABC computation for biomedical applications

M. Meguellati, F. Srairi, F. Djeffal, L. Saidi
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引用次数: 1

Abstract

Swimming microrobots have been broadly considered and drawn great attention for the mainly recent years, in robotics and biomedical domains, due to their alternative applications. This work models and optimizes a new swimming microrobot design for biomedical applications. The key idea behind this contribution is to find out the best dimension and electromechanical parameters of the investigated swimming microrobot that will yield the maximum thrust force for reliable swimming microrobot applications. The analytical models are developed to calculate the thrust force generated by a hybrid tail. The microrobot is modulated using a nonlinear model-based approach for magnetical control. We show that our proposed device can be significantly improved by using the IPCM hybrid tails with thick link at the end of the tail. Furthermore, the artificial bee colony algorithm is used to ameliorate both, electromechanical parameters and the microrobot geometrical aspect, in order to enhance the performance and robustness behavior of the investigated microrobot. In this context, thrust force of the investigated structure is examined and compared with the conventional microrobots. The obtained results demonstrate that the proposed design can be considered as a potential candidate for high performance microrobot-based applications.
基于ABC计算的新型生物医学微型游泳机器人分析模型及优化
近年来,微型游泳机器人由于其可替代的应用,在机器人和生物医学领域受到了广泛的关注。这项工作模拟和优化了一种新的生物医学应用的游泳微型机器人设计。这一贡献背后的关键思想是找出所研究的游泳微型机器人的最佳尺寸和机电参数,以产生最大的推力,从而实现可靠的游泳微型机器人应用。建立了计算混合尾翼推力的解析模型。该微型机器人采用基于非线性模型的磁控制方法进行调制。实验结果表明,采用末端有粗连杆的IPCM混合尾翼可以显著提高器件的性能。此外,利用人工蜂群算法对微机器人的机电参数和几何参数进行改进,以提高微机器人的性能和鲁棒性。在此背景下,研究了所研究结构的推力,并与传统的微型机器人进行了比较。结果表明,所提出的设计可以被认为是高性能微型机器人应用的潜在候选。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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