Experiment-based Kinematic validation of numeric modeling and simulated control of an untethered biomimetic Microrobot in channel
2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012, Sarajevo, Bosna-Hersek, 25 - 27 Mart 2012, (Tam Metin Bildiri)
- Yayın Türü: Bildiri / Tam Metin Bildiri
- Doi Numarası: 10.1109/amc.2012.6197094
- Basıldığı Şehir: Sarajevo
- Basıldığı Ülke: Bosna-Hersek
- Anahtar Kelimeler: Helical wave propagation, Mechanical efficiency, Model-based control, Onboard power supply, Resistive force theory, Untethered swimming microrobot
- İstanbul Ticaret Üniversitesi Adresli: Hayır
Özet
Modeling and control of swimming untethered microrobots are important for future therapeutic medical applications. Bio-inspired propulsion methods emerge as realistic substitutes for hydrodynamic thrust generation in micro realm. Accurate modeling, power supply, and propulsion-means directly affect microrobot motility and maneuverability. In this work, motility of bacteria-like untethered helical microrobots in channels is modeled with the resistive force theory coupled with motor dynamics. Results are validated with private experiments conducted on cm-scale prototypes fully submerged in Si-oil filled glass channel. Li-Po battery is utilized as the onboard power supply. Helical tail rotation is triggered by an IR remote control. It is observed that time-averaged velocities calculated by the model agree well with experimental results. Finally, time-dependent performance of a hypothetical model-based position control scheme is simulated with upstream flow as disturbance. © 2012 IEEE.