Dynamic modeling of a novel bionic micro-machine

By inspiring the motion of magnetotactic bacterium, a bionic micro-machine swimming in the liquid was proposed in the paper. The bionic micro-machine is propelled by the propeller fixed onto the motor shaft, and the motor's start-up, stop and speed are controlled by wireless radio transceiver modules. The moving attitude of the bionic micro-machine is adjusted through interaction between the internal permanent magnetic block and the external uniform magnetic field. To realize its automatic control, the kinematic model and dynamic model were established. Utilizing the prototype and the dynamic model, we studied the turning performance of the bionic micro-machine theoretically and experimentally. The results show that the bionic micro-machine can achieve the agile control of the attitude and the simulated results mostly agree with the experimental results that verify the correctness of the dynamic model of the bionic micromachine.