Improved kinematic models for two-link helical micro/nanoswimmers
Tabak, Ahmet Fatih and Yeşilyurt, Serhat (2013) Improved kinematic models for two-link helical micro/nanoswimmers. IEEE Transactions on Robotics . ISSN 1552-3098 (Print) 1941-0468 (Online)
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Official URL: http://dx.doi.org/10.1109/TRO.2013.2281551
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.
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