Modelling and Control of Flagellate Micro-Robots Motion

IF 16.4 1区 化学 Q1 CHEMISTRY, MULTIDISCIPLINARY
Mohammad Landarani, Majid Sadedel
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引用次数: 0

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.

Abstract Image

鞭毛虫微型机器人运动建模与控制
近年来,微型机器人技术取得了长足的进步。使用微型机器人的原因在于,与大型机器人系统相比,它们具有独特的优势。微型机器人体积小,可以在难以进入的空间执行任务,具有无与伦比的精确性和灵活性。这使它们在医疗领域特别有用,可用于靶向给药、组织工程和微创手术,大大缩短恢复时间,改善病人的治疗效果。迄今为止,微型机器人的设计和控制使用了各种鞭毛和配置。本研究为微型机器人引入了一种新的鞭毛排列方式,即利用五根鞭毛:一根位于微型机器人的中心,四根以相等的 90 度角和距离环绕微型机器人。结果表明,与以前的模型相比,这种鞭毛排列方式提高了微型机器人的速度和机动性。此外,这项研究还通过改变鞭毛的旋转频率来探索不同的运动方式,使微型机器人能够通过受控的运动序列从起点到达目标。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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来源期刊
Accounts of Chemical Research
Accounts of Chemical Research 化学-化学综合
CiteScore
31.40
自引率
1.10%
发文量
312
审稿时长
2 months
期刊介绍: Accounts of Chemical Research presents short, concise and critical articles offering easy-to-read overviews of basic research and applications in all areas of chemistry and biochemistry. These short reviews focus on research from the author’s own laboratory and are designed to teach the reader about a research project. In addition, Accounts of Chemical Research publishes commentaries that give an informed opinion on a current research problem. Special Issues online are devoted to a single topic of unusual activity and significance. Accounts of Chemical Research replaces the traditional article abstract with an article "Conspectus." These entries synopsize the research affording the reader a closer look at the content and significance of an article. Through this provision of a more detailed description of the article contents, the Conspectus enhances the article's discoverability by search engines and the exposure for the research.
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