SUMMARYIn this study, we introduce a novel three-dimensional micro-scale robot capable of swimming in low Reynolds number. The proposed robot consists of three rotating disks linked via three perpendicular adjustable rods, actuated by three rotary and three linear motors, respectively. The robot mechanism has an important property which makes it superior to the previously designed micro swimmers. In fact, our goal is designing a micro swimmer which its controllability matrix has full rank and hence it will be capable to perform any desired maneuver in space. After introducing the mechanism and derivation of the dynamical equations of motion, we propose a control method to steer the robot to the desired position and orientation in the presence of external disturbances in the low Reynolds number flow. Simulation results confirm the successful performance of the proposed mechanism and employed control method demonstrating high maneuverability of microrobot.

中文翻译：

---

新型高机动微型机器人的动力学与控制

摘要在这项研究中，我们介绍了一种能够在低雷诺数下游泳的新型三维微型机器人。所提出的机器人由三个旋转盘组成，三个旋转盘通过三个垂直可调杆连接，分别由三个旋转电机和三个线性电机驱动。机器人机构有一个重要的特性，使其优于以前设计的微型游泳者。事实上，我们的目标是设计一个微型游泳者，其可控性矩阵具有满秩，因此它将能够在太空中执行任何所需的机动。在介绍了运动动力学方程的机理和推导之后，我们提出了一种控制方法，可以在低雷诺数流中存在外部扰动的情况下将机器人引导到所需的位置和方向。