Dynamics Modeling and Maneuverability of a Biomimetic helical Swimmer robot at Low-Reynolds-Number

In this paper, we propose a new method inspired by the motility mechanism of prokaryotic microorganism in which by improving the helical propulsion system by the angle between the helical tail and the body axis, enabling them to perform clockwise or counterclockwise turning maneuvers. For predicting the behavior of this swimmer robot at various inclination angles, the swimmer’s hydrodynamic model is extracted and the effect of different inclination angles on motion trajectories is investigated. Then, in order to verification of the hydrodynamic model, an experimental prototype of a macro-size swimmer robot with specific inclination angles was fabricated. The comparison of the hydrodynamic model results with experimental data indicates that by creating specific inclination angles between the helical tail and the body axis, clockwise or counterclockwise maneuvers can be initiated in the swimmer. In particular, the radius of curvature of the trajectory is observed to change in the different inclination angles.