Tabak, Ahmet FatihYeşilyurt, Serhat2020-11-212020-11-2120141552-3098https://doi.org/10.1109/TRO.2013.2281551https://hdl.handle.net/11467/3769Accurate 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.eninfo:eu-repo/semantics/closedAccessBiological cellsBiomechatronicsFluidic microsystemsHydrodynamicsNumerical modelsRobot kinematicsVelocity measurementArticle3011425Q1WOS:000331301900003Q12-s2.0-8489445682910.1109/TRO.2013.2281551