Title :
Improved Kinematic Models for Two-Link Helical Micro/Nanoswimmers
Author :
Tabak, A.F. ; Yesilyurt, Serhat
Author_Institution :
Dept. of Mechatron. Eng., Sabanci Univ., Istanbul, Turkey
Abstract :
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.
Keywords :
computational fluid dynamics; hydrodynamics; medical robotics; microorganisms; microrobots; mobile robots; motion control; robot kinematics; trajectory control; 3D trajectories; bacteria-like swimmers; complex-impedance approach; computational fluid dynamics; hydrodynamic interaction; kinematic models; motion control; resistive force theory; robotic systems; therapeutic applications; two-link helical micro/nanoswimmers; Force; Hydrodynamics; Immune system; Microorganisms; Robots; Trajectory; Vectors; Biological cells; biomechatronics; fluidic microsystems; hydrodynamics; numerical models; robot kinematics; velocity measurement;
Journal_Title :
Robotics, IEEE Transactions on
DOI :
10.1109/TRO.2013.2281551