Miniature Robotic Swimmer with Precise 2D Motion Control via Acoustic Vortex-Induced Propulsion

The development of advanced robotic systems capable of precise movement without relying on traditional mechanical actuators is a growing area of research. One promising approach involves the use of acoustic waves, where sound waves are used to generate a propulsion force without the use of any moving parts. However, achieving controlled 2D movement in such systems remains a challenge, particularly in terms of efficiency, precision, and scalability. This paper explores the use of 3D-printed focused acoustic vortex propulsion (FAVP) lenses to drive a miniature robotic swimmer in two dimensions. The principles behind acoustic vortex generation and its application to create both rotational and translational motion on the miniature robot are investigated. The findings demonstrate that a specially designed acoustic lens can focus sound waves to produce localized vortices and streaming forces, which are then harnessed for precise 2D motion control. The robotic swimmer is tested in a variety of controlled environments to validate its ability to perform complex maneuvers, such as forward motion, rotational control, and directional steering. This research highlights the potential of acoustic vortex propulsion as a viable solution for non-contact, high-precision movement in small-scale robots, with profound implications in fields such as micro-robotics and underwater exploration.