Bacteria-inspired magnetically actuated rod-like soft robot in viscous fluids
Bacteria-inspired magnetically actuated rod-like soft robot in viscous fluids
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DOI：
10.1088/1748-3190/ac870f
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发表时间：
2022-11-01
影响因子：
3.4
通讯作者：
Kim, Min Jun
中科院分区：
文献类型：
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作者：
Bhattacharjee, Anuruddha;Jabbarzadeh, Mehdi;Kim, Min Jun
本文旨在设计，开发和探索的机车动力学和形态适应性的细菌启发的棒状软机器人推进高粘度牛顿流体。软机器人被制造成锥形，空心棒状软支架通过应用一个强大的和经济的成型技术，聚丙烯酰胺为基础的水凝胶聚合物。将圆柱形微磁体嵌入软支架的两端，其允许在均匀旋转磁场下弯曲（变形）和致动。我们证明了在粘性牛顿流体中的锥形棒状软机器人可以执行两种类型的推进;边界滚动时显示软机器人位于边界附近，游泳显示远离边界。此外，我们进行了数值模拟，以了解游泳推进沿着旋转轴和这种推进的方式是由软机器人的设计，旋转频率和流体粘度的影响。我们的研究结果表明，一个简单的几何不对称性，使棒状软机器人在低雷诺数（Re大大小于1）制度进行推进，这些有前途的结果提供了必要的见解，必须作出的改进，以集成软机器人到微创体内应用。
This paper seeks to design, develop, and explore the locomotive dynamics and morphological adaptability of a bacteria-inspired rod-like soft robot propelled in highly viscous Newtonian fluids. The soft robots were fabricated as tapered, hollow rod-like soft scaffolds by applying a robust and economic molding technique to a polyacrylamide-based hydrogel polymer. Cylindrical micro-magnets were embedded in both ends of the soft scaffolds, which allowed bending (deformation) and actuation under a uniform rotating magnetic field. We demonstrated that the tapered rod-like soft robot in viscous Newtonian fluids could perform two types of propulsion; boundary rolling was displayed when the soft robot was located near a boundary, and swimming was displayed far away from the boundary. In addition, we performed numerical simulations to understand the swimming propulsion along the rotating axis and the way in which this propulsion is affected by the soft robot's design, rotation frequency, and fluid viscosity. Our results suggest that a simple geometrical asymmetry enables the rod-like soft robot to perform propulsion in the low Reynolds number (Re MUCH LESS-THAN 1) regime; these promising results provide essential insights into the improvements that must be made to integrate the soft robots into minimally invasive in vivo applications.