Comparison on experimental and numerical results for helical swimmers inside channels

TABAK A. F., Temel F. Z., Yesilyurt S.

2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11, San Francisco, CA, Amerika Birleşik Devletleri, 25 - 30 Eylül 2011, ss.463-468 identifier

  • Yayın Türü: Bildiri / Tam Metin Bildiri
  • Doi Numarası: 10.1109/iros.2011.6048187
  • Basıldığı Şehir: San Francisco, CA
  • Basıldığı Ülke: Amerika Birleşik Devletleri
  • Sayfa Sayıları: ss.463-468
  • Anahtar Kelimeler: helical wave propagation, resistive force theory, rotating magnetic field actuation, swimming micro robot, wall effects
  • İstanbul Ticaret Üniversitesi Adresli: Hayır

Özet

Swimming micro robots are becoming feasible in biomedical applications such as targeted drug delivery, opening clogged arteries and diagnosis owing to recent developments in micro and nano manufacturing technologies. It has been demonstrated at various scales that micro helices with magnetic coating or attached to a magnet can move in fluids with the application of external rotating magnetic fields. The motion of micro swimmers interacting with flow inside channels needs to be well understood especially for medical applications where the motion of micro robots inside arteries and conduits in the body become pertinent. In this work, swimming of helical micro robots with magnetic heads inside tubes is modeled with the resistive force theory (RFT) and validated with experiments conducted in glycerin filled mini glass channels placed in rotational magnetic fields. The time-averaged forward velocities of magnetically driven micro swimmers that are calculated by the RFT model agree very well with experimental results. © 2011 IEEE.