Improved kinematic models for two-link helical micro/nanoswimmers

Tabak A. F., Yesilyurt S.

IEEE Transactions on Robotics, cilt.30, sa.1, ss.14-25, 2014 (SCI-Expanded) identifier identifier

  • Yayın Türü: Makale / Tam Makale
  • Cilt numarası: 30 Sayı: 1
  • Basım Tarihi: 2014
  • Doi Numarası: 10.1109/tro.2013.2281551
  • Dergi Adı: IEEE Transactions on Robotics
  • Derginin Tarandığı İndeksler: Science Citation Index Expanded (SCI-EXPANDED), Scopus
  • Sayfa Sayıları: ss.14-25
  • Anahtar Kelimeler: Biological cells, biomechatronics, fluidic microsystems, hydrodynamics, numerical models, robot kinematics, velocity measurement
  • İstanbul Ticaret Üniversitesi Adresli: Evet

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.