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

## TL;DR

A tiny robot swimmer uses sound waves and 3D-printed lenses to move precisely in two dimensions without mechanical parts.

## Contribution

A new method for 2D motion control in miniature robots using acoustic vortex propulsion and 3D-printed lenses.

## Key findings

- Acoustic vortex propulsion enables both translational and rotational movement in a miniature robot.
- Custom 3D-printed lenses focus sound waves to create precise motion control in controlled environments.
- The system demonstrates complex maneuvers like steering and rotation without mechanical actuators.

## Abstract

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.

In this work, a miniature robotic swimmer achieves precise 2D motion using sound waves with customized 3D‐printed lenses. Localized acoustic vortices drive both translation and rotation of the swimmer without mechanical parts. This contactless approach offers a novel route to controlled micro‐scale movement, with promising applications in biomedical devices, micro‐robotics, and underwater exploration.