Complex Dynamics of a Magnetic Microrobot Driven by Single Deformation Soft Tail in Random Environment

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 the 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.