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双线态微管。被称为动力蛋白的蛋白质突起沿着双态微管排列。动力产生双态微管的主动滑动力。纤毛跳动和鞭毛运动是由双线微管的主动滑动产生的。我们的目的是建立弯曲机制，模拟纤毛和鞭毛的双重微管的主动滑动。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。其次，利用与微管相对应的柔性梁制作了一种放大的弯曲机构。与动力装置相对应的电磁铁沿柔性梁放置。再次，为简化机构结构，保证扩大弯曲机构有较大的主动滑动，采用永磁体和电磁铁组合的电磁作动器。第四，为保证放大弯曲机构主动滑动的可靠性，对机构电磁执行器的电磁铁布置进行了改进。此外，我们开发了一个以纤毛运动为模型的扩大推进机制。为了实现纤毛运动的有效行程和恢复行程，该机构在其基座上安装了电机和可变弯曲刚度鳍片。

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.