摘要
This study focuses on exploring the complex dynamical behaviors of a magnetic microrobot in a random environment.The purpose is to reveal the mechanism of influence of random disturbance on microrobot dynamics.This paper establishes stochastic dynamic models for the microrobot before and after deformation,considering the influence of Gaussian white noise.The system responses are analyzed via steady-state probability density functions and first deformation time.The effects of different magnetic field strengths and fluid viscosities on the movement speed and angular velocity of the microrobot are studied.The results indicate that random disturbances can cause deformation of microrobots in advance compared to the deterministic case.This work contributes to the design and motion control of microrobots and enhances the theoretical foundation of microrobots.
基金
supported by the National Nature Science Foundation of China(Grant Nos.12072264 and 12272296)
the Key International(Regional)Joint Research Program of the National Science Foundation of China(Grant No.12120101002)
the National Science Foundation of Chongqing,China(Grant No.cstc2021jcyj-msxm X0738)
the National Science Foundation of Guangdong Province,China(Grant No.2023A1515012329)。
