Mobile robots with magnetizable materials in alternating uniform inclined magnetic fields

• Published in: Acta astronautica Vol. 181; pp. 579 - 584
• Main Authors: Merkulov, D.I., Pelevina, D.A., Turkov, V.A., Vinogradova, A.S., Naletova, V.A.
• Format: Journal Article
• Language: English
• Published: Elmsford Elsevier Ltd 01.04.2021; Elsevier BV
• Subjects: Alternating uniform magnetic field; Computational fluid dynamics; Elastomers; Magnetic fields; Magnetism; Magnetizable materials; Mobile robots; Movement in viscous fluids; Prototypes; Robot dynamics; Robots; Science and technology; Space science; Viscosity; Viscous fluids; Magnetizable materials; Mobile robots; Alternating uniform magnetic field; Movement in viscous fluids
• ISSN: 0094-5765; 1879-2030
• DOI: 10.1016/j.actaastro.2020.11.052

Mobile robots find now more and more applications in Space science and technology. So prototypes of mobile robots (bodies with magnetizable materials) being controlled by an alternating uniform magnetic field are proposed. An easy-to-implement alternating (pulsating) uniform magnetic field inclined to a horizontal plane is used to control prototypes. In experiments two samples of mobile robots are used: a spiral with a magnetizable elastomer and two magnetizable spheres with a non-magnetic elastic coupling. Size of proposed mobile robots can be quite small. The directed motion of these mobile robots in different surrounding viscous fluids along a horizontal bottom of a vessel in an alternating magnetic field is investigated experimentally and theoretically. Interesting effects are found experimentally: movement direction of robots dependents on viscosity of the surrounding fluid, and velocity value of robots in glycerin (high viscosity) are greater than in water (low viscosity). The mathematical model well describing experimental effects is proposed. Numerical calculations show that the motion of such robots occurs in opposite directions, when they move in water and glycerin. •Prototypes of new mobile robots with magnetic materials are made.•Motion of robots in a fluid is created by a uniform alternating magnetic field.•Value and direction of robot velocity depend on fluid viscosity.•Model of robot movement describing experimental effects is proposed.