Orbital Characterization Study for the Hydrodynamic Micro Tweezers: Simulated Performance with an Active Particle

In micro-robotics, micromanipulation can be utilized via diverse strategies for the trapping, selection, and manipulation of microparticles especially in biomedical applications. One of the most encountered problems in the research studies is the deformation or damage that might be caused by the micro object. The non-contact micromanipulation methods that are proposed in the literature aim to suggest efficient solutions to limit the deforming effects. These methods can be categorized based on the technique used in the system. The utilization of hydrodynamic forces is one of the most promising techniques in the literature. However, the numerical analysis and the dynamic performance predictions of these systems are often omitted. This study tries a new approach with a robotic-modeling-based comprehensive mathematical model to hydrodynamic interaction and the performance simulation of the orbital characterization of a hydrodynamic micro-tweezers system. Furthermore, we demonstrate the performance of a micro tweezers system on a particular active particle, i.e., E. Coli minicell. The system consists of a magnetic spherical particle submerged in an aqueous environment, rotating by the effects of the external magnetic field resulting in a free vortex. In return, the vortex is employed to trap the said active particle.