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Improved Kinematic Models for Two-Link Helical Micro/Nanoswimmers

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2 Author(s)
Ahmet Fatih Tabak ; Dept. of Mechatron. Eng., Sabanci Univ., Istanbul, Turkey ; Serhat Yesilyurt

Accurate prediction of the 3-D trajectories of micro/nanoswimmers is a key element to achieve high precision motion control in therapeutic applications. Rigid-body kinematics of such robotic systems is dominated by viscous forces. The induced flow field around a two-link swimmer is investigated with a validated computational fluid dynamics model. Force-free-swimming constraints are employed in order to simulate motion of bacteria-like swimmers in viscous medium. The fluid resistance exerted on the body of the swimmer is quantified by an improved resistance matrix, which is embedded in a validated resistive force theory model, based on a complex-impedance approach. Parametric studies confirmed that the hydrodynamic interaction between body and tail are of great importance in predicting the trajectories for such systems.

Published in:

IEEE Transactions on Robotics  (Volume:30 ,  Issue: 1 )