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Applied Bionics and Biomechanics
Volume 3 (2006), Issue 3, Pages 161-170

Development of a Micro Swimming Robot Using Optimised Giant Magnetostrictive Thin Films

Y. Zhang,1,2 G. Liu,2 and H. Li1

1Key Laboratory of Dalian University of Technology Precision & Non-traditional Machining of the Ministry of Education, Dalian 116024, China
2Department of Aerospace Engineering, Ryerson University, 350 Victoria Street, Toronto, Ontario, Canada M5B 2K3

Copyright © 2006 Hindawi Publishing Corporation. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


A fish-like swimming micro robot is developed using an optimised fin actuator made of giant magnetostrictive films (GMFs). The force oscillation dynamic model of a GMF cantilever with variable cross-section area is derived, and the propulsive model of the fish robot in liquid is established. A discrete variate method for optimising caudal fin configuration is proposed to optimise its propulsive force and drive efficiency under the constraints of fixed surface area and sufficient fin end strength. Both theoretical analysis and experimental results have confirmed that the optimised caudal fin configuration can generate more powerful propulsion and improved efficiency.