Mathematical model of a mobile robot with a magnetizable material in a uniform alternating magnetic field

A mathematical model for the motion of a mobile robot that can be controlled using an alternating magnetic field is proposed. The robot is composed of two spherical bodies with a magnetizable material and a non-magnetic elastic coupling. It moves along the bottom of a vessel filled with a liquid. An easy-to-implement alternating (pulsating) uniform magnetic field inclined to a horizontal plane is used to control the robot. The impact of the problem parameters (frequency, tilt angle and magnitude of the magnetic field, viscosity and density of the surrounding liquid, coefficient of friction between the robot and the bottom of the vessel, length of the robot) on the motion of the robot is studied. It is determined that the frequency of the magnetic field, the liquid viscosity and density can reverse the direction of the robot motion.