Improved kinematic models for two-link helical micro/nanoswimmers
Küçük Resim Yok
Tarih
2014
Yazarlar
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
Institute of Electrical and Electronics Engineers Inc.
Erişim Hakkı
info:eu-repo/semantics/closedAccess
Özet
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. © 2013 IEEE.
Açıklama
Anahtar Kelimeler
Biological cells, Biomechatronics, Fluidic microsystems, Hydrodynamics, Numerical models, Robot kinematics, Velocity measurement
Kaynak
IEEE Transactions on Robotics
WoS Q Değeri
Q1
Scopus Q Değeri
Q1
Cilt
30
Sayı
1
