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

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.