摘要Biomimetic micro-robot technology based on non-contact and cable-free magnetic actuation has become one of the crucial focuses of future biomedical research and micro-industrial development.Inspired by the motion characteristics of ray fish,this article proposes a micro-robot with magnetic controlled bionic ray structure.The micro-robot is made of soft elastic materials such as poly dimethyl siloxane(PDMS),Ethylene-Propylene-Diene Monomer(EPDM),and magnetic material Neodymium Iron Boron(NdFeB)nanoparticles.The external driving magnetic field is a periodic oscillating magnetic field generated by a Helmholtz coil.In order to verify the feasibility of the ray-inspired micro-robot,the motion principle was analyzed and several experiments were carried out.Experimental results demonstrated that the ray-inspired micro-robot can excellently mimic the crucial swimming characteristics of rays under the driving force of a oscillating magnetic field with an intensity of 5 mT and a frequency of 5 Hz,the swimming speed of the biomimetic micro-robot can reach nearly 2 body lengths per second.Analysis shows that the speed and stability of the micro-robot primarily depends not only on the amplitude and frequency of the vertical oscillating magnetic field,but also on the magnitude of the horizontal uni-form magnetic field.This article demonstrates that the designed biomimetic micro-robot has the potential application of remotely performing specialized tasks in confined,complex environments such as microchannel-based scenarios.