Geometric Visualization of Self-Propulsion in a Complex Medium
Geometric Visualization of Self-Propulsion in a Complex Medium
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DOI：
10.1103/physrevlett.110.078101
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发表时间：
2013-02-14
影响因子：
8.6
通讯作者：
Goldman, Daniel I.
中科院分区：
文献类型：
--
作者：
Hatton, Ross L.;Ding, Yang;Goldman, Daniel I.
本文采用几何力学理论、实验室机器人实验和数值模拟相结合的方法，研究了最简单的非惯性游泳运动员--Purcell三连杆运动员在颗粒介质中的运动。该理论使用颗粒阻力定律作为输入，将物体的平移和旋转与形状变化(连杆的运动)联系起来。这使得可以分析、可视化和预测经过实验验证的有效运动。几何方法还便于比较在颗粒介质中和在粘性流体中游泳。DOI：10.1103/PhysRevLett.110.078101
Combining geometric mechanics theory, laboratory robotic experiment, and numerical simulation, we study the locomotion in granular media of the simplest noninertial swimmer, the Purcell three-link swimmer. Using granular resistive force laws as inputs, the theory relates translation and rotation of the body to shape changes (movements of the links). This allows analysis, visualization, and prediction of effective movements that are verified by experiment. The geometric approach also facilitates comparison between swimming in granular media and in viscous fluids. DOI: 10.1103/PhysRevLett.110.078101