Abstract
In this study, we examined an effect of miniaturization on a magnetically driven fish-like microrobot. We fabricated a microrobot reduced to a scale of half our previous one and evaluated its static and dynamic characteristics. Due to the friction of the rotation axis, the deflection of the tail fin was largely decreased. As a result, the swimming speed reduced compared with the previous robot. In order to solve this problem, the magnet volume was doubled to obtain torque enough to overcome the friction. In addition, since the miniaturization doubled the driving frequency showing a peak of swimming speed, we developed a new drive system suitable for miniaturization.
