Characterization and modeling of biomimetic untethered robots swimming in viscous fluids inside circular channels

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dc.contributor.authorTemel, Fatma Zeynep
dc.contributor.authorErman, Aydek Gökçe
dc.contributor.authorYeşilyurt, Serhat
dc.date.accessioned2020-11-21T15:53:47Z
dc.date.available2020-11-21T15:53:47Z
dc.date.issued2014en_US
dc.departmentİstanbul Ticaret Üniversitesien_US
dc.description.abstractMiniaturized robots with bioinspired propulsion mechanisms, such as rotating helical flagella, are promising tools for minimally invasive surgery, diagnosis, targeted therapy, drug delivery, and removing material from the human body. Understanding the locomotion of swimmers inside fluid-filled channels is essential for the design and control of miniaturized robots inside arteries and conduits of living organisms. In this paper, we describe scaled-up experiments and modeling of untethered robots with a rotating helical tail and swimming inside a tube filled with a viscous fluid. Experiments mimic low Reynolds number swimming of miniaturized robots inside conduits filled with aqueous solutions. A capsule that contains the battery and a small dc motor is used for the body of the robots. Helical tails with different geometric parameters are manufactured and used to obtain swimming speeds and body rotation rates of robots inside the cylindrical channel. Three-dimensional incompressible flow around the robot inside the channel is governed by Stokes equations, which are solved numerically with a computational fluid dynamics (CFD) model. Predicted velocities of robots are compared with the experimental results for the validation of the CFD model, which is used to analyze effects of the helical radius, pitch, and the radial position of the robot on the swimming speed, forces acting on the robot, and efficiency. © 1996-2012 IEEE.en_US
dc.identifier.doi10.1109/TMECH.2013.2288368en_US
dc.identifier.endpage1573en_US
dc.identifier.issn1083-4435
dc.identifier.issue5en_US
dc.identifier.scopus2-s2.0-84901465297en_US
dc.identifier.scopusqualityQ1en_US
dc.identifier.startpage1562en_US
dc.identifier.urihttps://doi.org/10.1109/TMECH.2013.2288368
dc.identifier.urihttps://hdl.handle.net/11467/3683
dc.identifier.volume19en_US
dc.indekslendigikaynakScopusen_US
dc.language.isoenen_US
dc.publisherInstitute of Electrical and Electronics Engineers Inc.en_US
dc.relation.ispartofIEEE/ASME Transactions on Mechatronicsen_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subjectComputational fluid dynamics (CFD)en_US
dc.subjectinchannel swimmingen_US
dc.subjectlow Reynolds number swimmingen_US
dc.subjectswimming microrobotsen_US
dc.titleCharacterization and modeling of biomimetic untethered robots swimming in viscous fluids inside circular channelsen_US
dc.typeArticleen_US

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