Numerical study of millimeter-scale magnetorheological elastomer robot for undulatory swimming

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 conditions. The simulated results agree well with reported experimental results under the same conditions. The countermovement of the robots increases as the enhancement of magnetic field strength and the reduction of the length of the robots. The swimming gaits of the robots 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.