Modelling and Control of Flagellate Micro-Robots Motion

Abstract

Recent years have seen significant advancements in micro-robotics technology. The reason for the use of micro-robots lies in their unique advantages over larger robotic systems. Their small size allows them to perform tasks in inaccessible spaces, offering a level of precision and flexibility that is unmatched. This makes them particularly useful in the medical field, where they can be used for targeted drug delivery, tissue engineering, and minimally invasive surgeries, significantly reducing recovery times and improving patient outcomes. So far, micro-robots have been designed and controlled using various flagella and configurations. This study introduces a new flagella arrangement for micro-robots, utilizing five flagella: one at the center of the micro-robot and four surrounding it at equal 90-degree angles and distances. The results indicate that this flagella arrangement enhances the speed and maneuverability of the micro-robot compared to previous models. Additionally, this research explores different motions by varying the rotational frequencies of the flagella, enabling the micro-robot to reach its goal from a starting point through controlled sequences of motions.