Design methodology for biomimetic propulsion of miniature swimming robots
Design methodology for biomimetic propulsion of miniature swimming robots
复制标题
DOI：
10.1115/1.2171439
复制
发表时间：
2006-03-01
影响因子：
1.7
通讯作者：
Sitti, M
中科院分区：
文献类型：
--
作者：
Behkam, B;Sitti, M
微型和节能的推进系统是游泳微型机器人技术成熟的关键。本文从原核和真核微生物的运动机制出发，提出了两种新的推进方法。开发了两种方法的水动力模型，并证明了两种推进模式的优化设计参数。为了验证原核鞭毛运动的理论结果，制造了一个按比例放大的机器人原型，并在硅油中进行了测试，使用Buckingham PI定理进行缩放。所提出的推进方法适用于在低速流体中游泳的游泳机器人。
Miniature and energy-efficient propulsion systems hold the key to maturing the technology of swimming microrobots. In this paper two new methods of propulsion inspired by the motility mechanism of prokaryotic and eukaryotic microorganisms are proposed. Hydrodynamic models for each of the two methods are developed, and the optimized design parameters for each of the two propulsion modes are demonstrated. To validate the theoretical result for the prokaryotic flagellar motion, a scaled-up prototype of the robot is fabricated and tested in silicone oil, using the Buckingham PI theorem for scaling. The proposed propulsion methods are appropriate for the swimming robots that are intended to swim in low-velocity fluids.