Improved kinematic models for two-link helical micro/nano-swimmers
Tabak, Ahmet Fatih and Yeşilyurt, Serhat (2013) Improved kinematic models for two-link helical micro/nano-swimmers. (Accepted/In Press)
Accurate prediction of the three-dimensional trajectories of micro/nano-swimmers is a key element as 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 (CFD) 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 (RFT) model, based on 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.
Available Versions of this Item
Repository Staff Only: item control page