Design and Dynamic Modelling of a Micro Robot with High Maneuverability

We have designed and simulated the motion of a microswimmerwith 3D maneuverability. Our swimmer iscomposed of a link with a simple linear actuator and twodisks that can rotate about the axes of flange links and itsperpendicular axes. The time symmetry is broken by thecombination of disk rotations and the middle link actuation.The swimmer can propel and rotate on each body-fixedaxis. Hence, it is capable of swimming along arbitrarytrajectories. It has been found out that continuous operationmodes result in planar and three-dimensional periodic andquasi-periodic orbits. These orbits allow the swimmer toaccess large parts of its surroundings without using complexcontrol strategies.