Study of Three Dimensional Bending Mechanism Modeled on Sliding of Microtubules in Flagella and Cilia

纤毛和真核鞭毛具有两个单线态微管和九个外部双线态微管。被称为动力蛋白的蛋白质的突起沿着双峰微管放置。动力蛋白产生微管双联体的主动滑动力。纤毛的跳动和鞭毛的运动是由双微管的主动滑动产生的。为了模拟纤毛和鞭毛中微管的主动滑动，设计了一种弯曲机构，首先利用弯曲机构模拟了推进机构的弯曲运动和推力特性，然后利用与微管相对应的柔性梁对弯曲机构进行了放大.为了简化机构结构，保证放大弯曲机构有较大的主动滑动，电磁作动器采用永磁体和电磁体的组合形式;为了保证放大弯曲机构有可靠的主动滑动，对机构电磁作动器的电磁体布置进行了改进;为了保证放大弯曲机构有较大的主动滑动，对机构电磁作动器的电磁体布置进行了改进。我们开发了一种以纤毛运动为模型的扩大的推进机制。为实现纤毛运动的有效行程和恢复行程，该机构在基座上安装了电机和变刚度鳍片。

Cilia and Eukaryotic flagella possess two singlet microtubules and nine outer doublet microtubules. Protuberances of protein named as dyneins, are placed along doublet microtubules. Dyneins produce the active sliding force of doublet microtubules. Ciliary beating and flagellar movement are generated by the active sliding of doublet microtubules. We aimed to develop the bending mechanism modeled on the active sliding of doublet microtubules in cilia and flagella.Firstly, we simulated the bending movement and thrust force characteristics of the propulsion menchanism by using the bending mechanism.Secondly, we made an enlarged bending mechanism by using flexible beams corresponding to microtubules. The electromagnets corresponding to the dyneins were placed along flexible beams.Thirdly, to simplify the structure and ensure larger active sliding of the enlarged bending mechanism, we applied the combination of permanent magnets and electromagnets for the electromagnetic actuators.Fourthly, to ensure reliable active sliding of the enlarged bending mechanism, we modified the arrangement of electromagnets for the electromagnetic actuators of the mechanism.Furthermore, we developed an enlarged propulsion mechanism modeled on ciliary movement. To realize the effective stroke and recovery stroke of ciliary movement, the mechanism was equipped with a motor on its base and a variable-bending-stiffness fin.