Bionic manta ray micro-robot
By designing a biomimetic manta ray microrobot, the problem of movement and transportation of microrobots in liquid environments is solved by using magnetized pectoral fins to generate anti-Kármán vortices under an oscillating magnetic field, thus achieving efficient and safe transportation functions.
Patent Information
- Application Number
- CN202423185372.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-23
- Publication Date
- 2025-10-28
- Estimated Expiration
- 2034-12-23
AI Technical Summary
Existing microrobots struggle to perform transport operations in enclosed spaces filled with liquid, especially in microchannels, where they cannot effectively utilize their own energy for propulsion. Furthermore, while existing magnetically controlled microrobots come in various forms, few are suitable for such environments.
Design a biomimetic manta ray microrobot that uses an upper body, a lower body, and a thin film structure. It utilizes magnetized pectoral fins to generate anti-Kamen vortices under an oscillating magnetic field to achieve directional movement in a liquid environment and transport goods through the microporous structure of the upper body.
It enables directional movement and cargo transportation in closed liquid environments and microchannels, meeting the needs of micromechanics, biomedicine and industrial fields, and features a green, clean and safe driving method.
Smart Images
Figure CN223479301U_ABST
Abstract
Description
Technical Field
[0001] This disclosure relates to the field of microrobot technology, and more particularly to a biomimetic manta ray microrobot. Background Technology
[0002] Utilizing biomimetic techniques in the design and research of microrobots is an effective approach adopted by many researchers and a promising technological field. Bionics generally refers to the discipline of solving engineering problems by imitating the structural features, behaviors, and functional characteristics of various biological forms. Because microrobots are small micro-actuators, their size limits the installation of power sources, making it difficult to achieve mechanical movement or manipulation in complex environments. These problems have always been significant challenges in the field of microrobots, and the application of biomimetic technology has provided better inspiration and solutions. Scientists can study the structure and function of organisms, drawing on the characteristics and movement patterns of organisms in nature, and applying them to the design of microrobots. For example, the wing structure of insects can inspire the flight mechanism of microrobots, the fins or pectoral fins of fish can provide efficient maneuverability for microrobots, and the crawling motion of inchworms can be used to design microrobots for navigating and operating in confined spaces.
[0003] Most microrobots cannot be powered by their own energy sources, especially soft microrobots, which require external energy fields for propulsion. Common external energy fields include light fields, magnetic fields, and sound fields. These fields provide power wirelessly, allowing the microrobots to move and perform tasks in enclosed environments. Using external magnetic fields to drive microrobots is one of the most popular methods in academia. Magnetic fields are green, clean, and environmentally friendly, and do not harm biological tissues, making them widely used in medical devices to provide efficient, safe, and harmless diagnosis and treatment for patients. Furthermore, compared to light and sound fields, magnetic fields can provide a stronger and more persistent energy field, enabling microrobots to carry goods for transportation tasks, such as transporting goods in industrial microchannels or targeted drug delivery within blood vessels. Although existing magnetically controlled microrobots vary in form and type, there are still very few microrobots capable of performing transportation tasks in enclosed spaces filled with liquid, especially in microchannels. Therefore, there is still much room for innovation in the development of microrobots. Utility Model Content
[0004] The purpose of this disclosure is to provide a biomimetic manta ray microrobot to solve the problems existing in the prior art.
[0005] The embodiments of this disclosure adopt the following technical solution: a biomimetic manta ray microrobot, comprising: an upper body, a lower body, and a thin film structure, wherein the upper body and the lower body are respectively located on two sides of the thin film structure, and the thin film structure is divided into a right pectoral fin and a left pectoral fin of the same size; wherein, the upper body is made of a material with a microporous structure, and the rear end portions of the left pectoral fin and the right pectoral fin are magnetized in the same direction.
[0006] In some embodiments, the upper fish body, the lower fish body, and the membrane structure have the same length, the length of the membrane structure is greater than the width of the membrane structure, three times the width of the upper fish body is less than the width of the membrane structure, the width of the upper fish body is greater than the width of the lower fish body, the thickness of the membrane structure is between 0.1 and 0.25 mm, and the thickness of the lower fish body is between 0.5 and 2 mm.
[0007] In some embodiments, the upper fish body is made of EPDM rubber, the lower fish body is made of rubber, and the thin film structure is made of magnetized rubber.
[0008] In some embodiments, the magnetized rubber is a mixture of rubber and nano-magnetic powder particles, wherein the mass ratio of the rubber to the nano-magnetic powder particles is 1:(1.5-4).
[0009] In some embodiments, the nano-magnetic powder particles are any one of the following material particles: neodymium iron boron, iron tetroxide, chromium dioxide, and cobalt-iron oxide.
[0010] In some embodiments, the magnetized portions of the left and right pectoral fins have the same area, which is 40% to 80% of the total area of the left or right pectoral fin.
[0011] In some embodiments, the left and right pectoral fins oscillate under the excitation of an oscillating magnetic field in the Z-axis direction and generate an anti-Kármán vortex to drive the biomimetic manta ray microrobot forward.
[0012] In some embodiments, the oscillating magnetic field in the Z-axis direction is generated based on an oscillating signal applied to the Z-axis coil of a three-dimensional Helmholtz coil, wherein the oscillating signal is a sine / cosine wave signal with a frequency of 1 to 10 Hz.
[0013] In some embodiments, the three-dimensional Helmholtz coil further includes an X-axis coil and a Y-axis coil.
[0014] In some embodiments, when the X-axis coil and the Y-axis coil generate a horizontal uniform magnetic field parallel to the direction of motion of the biomimetic manta ray microrobot, the biomimetic manta ray microrobot performs a backward motion; when the X-axis coil and the Y-axis coil generate a rotating magnetic field parallel to the direction of motion of the biomimetic manta ray microrobot, the biomimetic manta ray microrobot performs a rotating motion.
[0015] Compared with existing biomimetic microrobots, the biomimetic manta ray microrobot of this disclosure has a simple structural design, consisting only of an upper and lower body and left and right pectoral fins divided by the upper and lower body. The pectoral fins formed by the soft thin film structure can perform directional movement in a closed liquid environment or a microchannel liquid environment when partially magnetized. At the same time, in conjunction with the upper body with a microporous structure, it can realize the function of cargo transportation in a liquid environment, meeting various application needs in the fields of micromechanics, biomedicine, and industry. Attached Figure Description
[0016] To more clearly illustrate the technical solutions in one or more embodiments of this specification or in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this specification. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0017] Figure 1 This is a schematic diagram of the overall structure of the biomimetic manta ray microrobot in this embodiment;
[0018] Figure 2 This is a top-view feature dimension diagram of the biomimetic manta ray microrobot in this embodiment;
[0019] Figure 3 This is a frontal view of the feature dimensions of the biomimetic manta ray microrobot in this embodiment;
[0020] Figure 4 This is a simplified flowchart of the fabrication process of the biomimetic manta ray microrobot in this embodiment;
[0021] Figure 5 This is a schematic diagram of the magnetization method of the biomimetic manta ray microrobot in this embodiment;
[0022] Figure 6 This is a circuit diagram of the magnetization device for the biomimetic manta ray microrobot in this embodiment;
[0023] Figure 7 This is a schematic diagram of the swing and magnetic field direction of the biomimetic manta ray microrobot in this embodiment.
[0024] Figure 8 This is a schematic diagram of the lower part of the biomimetic manta ray microrobot and the direction of the magnetic field in this embodiment;
[0025] Figure 9 This is a schematic diagram of the movement of the biomimetic manta ray microrobot in this embodiment. Detailed Implementation
[0026] To enable those skilled in the art to better understand the technical solutions in one or more embodiments of this specification, the technical solutions in one or more embodiments of this specification will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this specification, and not all of the embodiments. Based on one or more embodiments of this specification, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of this document.
[0027] Utilizing biomimetic techniques in the design and research of microrobots is an effective approach adopted by many researchers and a promising technological field. Bionics generally refers to the discipline of solving engineering problems by imitating the structural features, behaviors, and functional characteristics of various biological forms. Because microrobots are small micro-actuators, their size limits the installation of power sources, making it difficult to achieve mechanical movement or manipulation in complex environments. These problems have always been significant challenges in the field of microrobots, and the application of biomimetic technology has provided better inspiration and solutions. Scientists can study the structure and function of organisms, drawing on the characteristics and movement patterns of organisms in nature, and applying them to the design of microrobots. For example, the wing structure of insects can inspire the flight mechanism of microrobots, the fins or pectoral fins of fish can provide efficient maneuverability for microrobots, and the crawling motion of inchworms can be used to design microrobots for navigating and operating in confined spaces.
[0028] Most microrobots cannot be powered by their own energy sources, especially soft microrobots, which require external energy fields for propulsion. Common external energy fields include light fields, magnetic fields, and sound fields. These fields provide power wirelessly, allowing the microrobots to move and perform tasks in enclosed environments. Using external magnetic fields to drive microrobots is one of the most popular methods in academia. Magnetic fields are green, clean, and environmentally friendly, and do not harm biological tissues, making them widely used in medical devices to provide efficient, safe, and harmless diagnosis and treatment for patients. Furthermore, compared to light and sound fields, magnetic fields can provide a stronger and more persistent energy field, enabling microrobots to carry goods for transportation tasks, such as transporting goods in industrial microchannels or targeted drug delivery within blood vessels. Although existing magnetically controlled microrobots vary in form and type, there are still very few microrobots capable of performing transportation tasks in enclosed spaces filled with liquid, especially in microchannels. Therefore, there is still much room for innovation in the development of microrobots.
[0029] To address the aforementioned problems, this disclosure provides a biomimetic manta ray microrobot, combining... Figures 1 to 3 As shown, the biomimetic manta ray microrobot of this embodiment mainly includes an upper body 1, a lower body 2, and a thin film structure. The upper body 1 and lower body 2 are respectively placed on opposite sides of the thin film structure, and the thin film structure is divided into a right pectoral fin 3 and a left pectoral fin 4 of the same size. Figures 1 to 3 As shown, the direction of movement of the microrobot is as follows: Figure 1 As indicated by the middle arrow, the right pectoral fin 3 and left pectoral fin 4 are divided into front and rear ends according to the direction of movement, namely the right front pectoral fin 31, the right rear pectoral fin 32, the left front pectoral fin 41, and the left rear pectoral fin 42. In this embodiment, the right rear pectoral fin 32 and the left rear pectoral fin 42 are magnetized, and the film is vertical in the horizontal direction and the magnetization direction of the rear ends of the two pectoral fins is consistent. The right front pectoral fin 31 and the left front pectoral fin 41 do not need to be magnetized. Under the action of an external oscillating magnetic field, the right rear pectoral fin 32 and the left rear pectoral fin 42 can form an up-and-down swinging motion in the water, forming an anti-Kamen vortex, and swimming in a manner similar to the swinging of the pectoral fins of manta rays. At the same time, the upper body 1 of the microrobot in this embodiment is made of a material with a microporous structure to realize the transportation of particulate matter during movement.
[0030] The bionic manta ray micro-robot in this embodiment is designed and prepared by imitating the pectoral fin structure and movement characteristics of the marine creature manta ray, making the movement form of the micro-robot similar to that of the manta ray. The material structures of the upper fish body 1, lower fish body 2, right pectoral fin 3, and left pectoral fin 4 of the bionic manta ray micro-robot are all different. Based on the realization of the transportation function of the bionic manta ray micro-robot in this embodiment, the material of the upper fish body 1 is rubber with a microporous structure, such as ethylene propylene diene monomer rubber, while the lower fish body 1 mainly plays a supporting and balancing role and can be made of insulating rubber material. The thin film structures of the right pectoral fin 3 and left pectoral fin 4 are made of magnetized rubber to meet the driving requirements of the micro-robot. In actual implementation, the magnetized rubber can be a mixture of rubber and nano-magnetic powder particles. By controlling the mass ratio between the two, the balance between softness and magnetizable characteristics can be achieved. In this embodiment, the mass ratio of rubber to nano-magnetic powder particles is set to 1:(1.5 - 4), and the mass ratio can be further adjusted in combination with different types of nano-magnetic powder particles. In some embodiments, the nano-magnetic powder particles are any one of the following material particles: neodymium iron boron (NdFeB), iron oxide (Fe3O4), chromium dioxide (CrO2), cobalt-iron oxide (CoxFe3-xO4). When preparing the thin film structure, for example, neodymium iron boron can be selected as the nano-magnetic powder particle and mixed with polydimethylsiloxane silicone, and the mass ratio of the two is 7:3, making the thin film structure have the characteristics of being soft and magnetizable.
[0031] As Figure 2 and Figure 3 shown, the upper fish body 1, lower fish body 2, and thin film structure of the micro-robot in this embodiment have the same length L, and the length L of the thin film structure is greater than its own width W. The triple of the width W1 of the upper fish body 1 is less than the width W of the thin film, that is, 3*W1 < W, and the width W1 of the upper fish body 1 is greater than the width W2 of the lower fish body 2; in addition, affected by the rubber and nano-magnetic powder particles, the thickness of the thin film structure (that is, the thickness of the right pectoral fin 3 and left pectoral fin 4) is generally between 0.1 and 0.25 millimeters, the thickness of the lower fish body 2 is between 0.5 and 2 millimeters, and the thickness H1 of the upper fish body 1 is mainly determined by the need for cargo particle transportation, and no specific limitation is made in this embodiment. In an actual implementation method, the fish body length L of the bionic manta ray micro-robot is 18 mm, the width W is 14 mm, and the height H is 4.2 mm; among them, the width W1 of the upper fish body 1 is 3 mm, the height H1 is 3 mm, the width W2 of the lower fish body 2 is 2 mm, the height H2 is 1 mm; the thickness H3 of the left and right pectoral fins is 0.2 mm.
[0032] It should be noted that the right anterior pectoral fin 31 and the left anterior pectoral fin 41 are not magnetized, while the right posterior pectoral fin 32 and the left posterior pectoral fin 42 are magnetized. Furthermore, the right posterior pectoral fin 32 and the left posterior pectoral fin 42 have the same area, which is 40% to 80% of the total area of the right pectoral fin 3 or the left pectoral fin 4. In other words, at least a portion of the left and right pectoral fins near the front should not be magnetized, so that they can be driven by the rear end to achieve the flapping action when the anti-Kamen vortex is generated.
[0033] The biomimetic manta ray microrobot of this embodiment primarily excites the right pectoral fin 3 and left pectoral fin 4 through an oscillating magnetic field along the Z-axis. Relying on its own structure and magnetization characteristics, the microrobot generates up-and-down flapping motions in the water, with the flapping motions of the membranes on both sides of the pectoral fins being symmetrical and coordinated. This generates an anti-Kármán vortex to propel the microrobot forward. Here, the Z-axis direction mainly refers to the normal direction of the membrane structure in a static state. Typically, the oscillating magnetic field along the Z-axis can be generated based on an oscillating signal applied to the Z-axis coil of a three-dimensional Helmholtz coil. The oscillating signal is a sine / cosine wave signal with a frequency between 1 and 10 Hz. The swimming speed of the microrobot can be controlled by adjusting the signal frequency, which is typically set to 5 Hz. In addition, the three-dimensional Helmholtz coil also includes an X-axis coil and a Y-axis coil, where both the X-axis and Y-axis directions are parallel to the plane containing the membrane structure and are perpendicular to each other within that plane.
[0034] When driving the biomimetic manta ray microrobot to perform a backward movement in water, a uniform magnetic field is applied to the XY horizontal plane based on the oscillating magnetic field generated by the three-dimensional Helmholtz coil in the Z direction. The direction of the uniform magnetic field is parallel to the direction of movement of the microrobot. As the magnetic induction intensity of the uniform magnetic field increases, the swimming speed of the microrobot gradually decreases. When the intensity increases to a certain level, the microrobot will perform a backward movement, and the backward speed is controlled by the magnitude of the magnetic induction intensity of the uniform magnetic field. When driving the biomimetic manta ray microrobot to perform a rotating movement in water, a rotating magnetic field is applied to the XY horizontal plane based on the oscillating magnetic field generated by the three-dimensional Helmholtz coil in the Z direction. The rotating magnetic field is generated by applying sine and cosine signals with a 90° phase difference to the coils in the X and Y directions, respectively. Under the excitation of the rotating magnetic field, the membranes of the pectoral fins on both sides of the microrobot no longer flap symmetrically, but flap in opposite directions, achieving the purpose of rotational movement.
[0035] The following combination Figures 4 to 9 The fabrication process and driving method of the biomimetic manta ray microrobot in this embodiment are described in detail.
[0036] like Figure 4 and Figure 5 As shown, the fabrication steps of the biomimetic manta ray microrobot in this embodiment are as follows:
[0037] S1: Use a milligram weighing instrument to mix the PDMS rubber solution and curing agent at a mass ratio of 10:1. Stir manually for 1 minute, then place in a vacuum drying oven for 10 minutes to remove air bubbles generated during stirring.
[0038] S2: Using a milligram weighing instrument, mix the PDMS rubber solution that has been stirred and defoamed under vacuum in S1 with NdFeB powder at a mass ratio of 3:7 and stir manually for 3 minutes. The particle size of the NdFeB powder used is 50nm. In order to ensure that the NdFeB powder and PDMS solution are fully and evenly mixed, the mixed solution needs to be shaken for 30 minutes using a mixer.
[0039] S3: Use a 3D printer to print a circular base mold for a spin coater to make a magnetic film. The base diameter is 40mm, and the edge should be designed with a baffle that is 0.2mm higher to limit the thickness of the film. At the same time, 3D print a mold for casting a fish body groove. The groove depth is 2mm, the length is 18mm, and the width is 2mm.
[0040] S4: Pour the PDMS-NdFeB mixed solution shaken in S2 into a circular base mold, and coat it evenly with a spin coater at a speed of 600 r / min. After coating for about 60 seconds, observe whether it evenly covers the surface of the mold and then stop. At the same time, pour the PDMS solution prepared in S1 into the lower fish body mold to make the lower fish body. Finally, place the two cast molds in a vacuum drying oven for high-temperature curing at 60°C for more than 4 hours.
[0041] S5: The cured magnetoelastic film is cut out with a laser cutter to create the outer contour of the biomimetic manta ray microrobot, which is 18mm long and 17mm wide. To make the film easier to separate from the mold, it can be soaked in an alcohol solution for 5 minutes and then manually demolded.
[0042] S6: Remove the cured lower fish body model, cut the finished EPDM rubber to the design dimensions to make the upper fish body model, and use silicone adhesive to attach the upper and lower fish bodies to the magnetoelastic film in a centered manner.
[0043] S7: The microrobot is magnetized using an electromagnet. First, a magnetization positioning base is designed according to the shape of the microrobot. The positioning base is symmetrically designed, with two cube-shaped pure iron blocks on each side serving as the magnetizing core of the electromagnet. The area between the upper and lower iron cores is the working area for magnetizing the microrobot's thin film. Each positioning base is equipped with a magnetizing coil, with approximately 400 turns and a magnetizing current of 30A. The microrobot's pectoral fin thin film is divided into two sections, front and back. During magnetization, only the rear half of one side of the film is magnetized, while the front half does not need to be magnetized.
[0044] The circuit diagram of the magnetization device is as follows: Figure 6As shown, the device comprises five parts: an electromagnetic coil, a discharge switch, a charging switch, a supercapacitor, and a DC regulated power supply. The electromagnetic coil is wound with 1.2mm enameled pure copper wire, has an inner diameter of 35mm, a height of 28mm, and approximately 400 turns. The upper and lower coils are connected in parallel. The supercapacitor has a capacity of 60000uF and consists of six 10000uF capacitors connected in parallel, each rated at 80V. The DC regulated power supply output is set to 60V, and the current output is set to 0.2A. During operation, first, the voltage and current outputs of the DC regulated power supply are set. Then, the charging switch is closed to begin charging the supercapacitor. The discharge switch must remain open. When the voltage across the positive and negative terminals of the supercapacitor equals the DC regulated power supply voltage, the supercapacitor is considered fully charged. At this point, the charging switch is opened, and the discharge switch is closed, short-circuiting the positive and negative terminals of the capacitor through the coil to generate a large instantaneous current. Under this large current excitation, the coil's electromagnet core will generate a magnetic induction intensity of over 1.5T to magnetize the microrobot, completing the magnetization process.
[0045] like Figure 7 , Figure 8 and Figure 9 As shown, the microrobot employs a three-dimensional Helmholtz coil drive control. When a sine or cosine signal is applied to the coil only in the Z direction, the coil will generate an oscillating magnetic field that varies in direction up and down. Figure 7 As shown, when the biomimetic manta ray microrobot is subjected to an upward-directed external magnetic field, the magnetized pectoral fin membrane will exhibit an upward swinging motion due to its interaction with the external magnetic field; as Figure 8 As shown, when the biomimetic manta ray microrobot is subjected to a downward-facing external magnetic field, the pectoral fin membrane will swing downwards. After the pectoral fin membrane completes one up-and-down swing, the biomimetic manta ray microrobot completes one oscillation cycle. The biomimetic manta ray microrobot generates up-and-down flapping motions in the water based on its own structure and magnetization characteristics. The flapping motions of the pectoral fin membranes on both sides are symmetrical and coordinated. At this time, the microrobot generates an anti-Kaman vortex under the interaction with the water, propelling the microrobot to swim a distance ΔS, thus completing the forward movement of the biomimetic manta ray microrobot. Figure 9 As shown.
[0046] Compared with existing biomimetic microrobots, the biomimetic manta ray microrobot of this disclosure has a simple structural design, consisting only of an upper and lower body and left and right pectoral fins divided by the upper and lower body. The pectoral fins formed by the soft thin film structure can perform directional movement in a closed liquid environment or a microchannel liquid environment when partially magnetized. At the same time, in conjunction with the upper body with a microporous structure, it can realize the function of cargo transportation in a liquid environment, meeting various application needs in the fields of micromechanics, biomedicine, and industry.
[0047] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this disclosure, and are not intended to limit them. Although this disclosure has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this disclosure.
Claims
1. A biomimetic manta ray microrobot, characterized in that, include: The fish has an upper body, a lower body, and a membrane structure. The upper body and the lower body are located on opposite sides of the membrane structure, which divides the membrane structure into a right pectoral fin and a left pectoral fin of the same size. The upper body is made of a material with a microporous structure, and the rear ends of the left and right pectoral fins are magnetized in the same direction.
2. The biomimetic manta ray microrobot according to claim 1, characterized in that, The upper fish body, the lower fish body, and the membrane structure are all the same length. The length of the membrane structure is greater than the width of the membrane structure. Three times the width of the upper fish body is less than the width of the membrane structure. The width of the upper fish body is greater than the width of the lower fish body. The thickness of the membrane structure is between 0.1 and 0.25 mm, and the thickness of the lower fish body is between 0.5 and 2 mm.
3. The biomimetic manta ray microrobot according to claim 1, characterized in that, The upper fish body is made of EPDM rubber, the lower fish body is made of rubber, and the thin film structure is made of magnetized rubber.
4. The biomimetic manta ray microrobot according to claim 3, characterized in that, The magnetized rubber is a mixture of rubber and nano-magnetic powder particles, and the mass ratio of the rubber to the nano-magnetic powder particles is 1:(1.5~4).
5. The biomimetic manta ray microrobot according to claim 4, characterized in that, The nano-magnetic powder particles are any one of the following material particles: neodymium iron boron, iron tetroxide, chromium dioxide, and cobalt-iron oxide.
6. The biomimetic manta ray microrobot according to claim 1, characterized in that, The magnetized portions of the left and right pectoral fins have the same area, which is 40% to 80% of the total area of the left or right pectoral fin.
7. The biomimetic manta ray microrobot according to any one of claims 1 to 6, characterized in that, The left and right pectoral fins oscillate under the excitation of an oscillating magnetic field in the Z-axis direction, generating an anti-Kármán vortex to drive the biomimetic manta ray microrobot forward.
8. The biomimetic manta ray microrobot according to claim 7, characterized in that, The oscillating magnetic field in the Z-axis direction is generated based on an oscillating signal applied to the Z-axis coil of a three-dimensional Helmholtz coil. The oscillating signal is a sine wave signal with a frequency of 1 to 10 Hz.
9. The biomimetic manta ray microrobot according to claim 8, characterized in that, The three-dimensional Helmholtz coil also includes an X-axis coil and a Y-axis coil.
10. The biomimetic manta ray microrobot according to claim 9, characterized in that, When the X-axis coil and the Y-axis coil generate a horizontal uniform magnetic field parallel to the direction of motion of the biomimetic manta ray microrobot, the biomimetic manta ray microrobot performs a backward movement. When the X-axis coil and the Y-axis coil generate a rotating magnetic field parallel to the direction of motion of the biomimetic manta ray microrobot, the biomimetic manta ray microrobot performs a rotational motion.