Technical Papers and Presentations

Numerical investigations of magnetorheological elastomer millimeter-scale robots capable of undulatory swimming under magnetic body torques are realized for the first time in low Reynolds number condition using AC/DC, CFD, Structural Mechanics modules in COMSOL Multiphysics®. The countermovement of the robot increases as the enhancement of magnetic field strength and the reduction of the length of the robot. The swimming gaits of the robot are characterized by a proposed theoretical function differing obviously from Taylor’s model. The amplitudes of the points along the neutral layer are inconsistent. These simulations provide rapid and low-cost investigation methods for soft-bodied locomotion actuated by distributed torques.