用栉水母启发的软机器人平台编码人工纤毛的时空不对称性

David J. Peterman, Margaret L. Byron
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引用次数: 0

摘要

多种多样的生物利用元周期协调(即众多相邻附肢以固定的相位滞后顺序跳动)来游泳或泵送流体。在粘性效应占主导地位、流动具有时间可逆性的小尺度上,微生物利用这种协调策略来打破对称性。然而,单个推进器运动学的作用--尤其是跨流体动力尺度的作用--尚未得到很好的理解,尽管推进器运动的细节对于高效产生流动可能至关重要。为了研究这种行为,我们开发了一种新的软机器人平台,使用磁活性硅胶弹性体来模拟游泳生物中的元协调推进器。此外,我们还提出了一种在人造推进器中被动编码空间不对称跳动模式的方法。我们利用粒子图像测速仪和高速摄像技术研究了三种不同对称程度的推进器的运动学和流体力学。我们发现,相对于相同频率和相位滞后的对称跳动,不对称跳动模式可以移动更多的流体,而且不对称可以通过弹性和磁力矩之间的相互作用被动地编码到推进器中。我们的研究结果表明,推进器运动学的细微差别会对流体泵送性能产生重大影响。我们的软机器人平台还为探索主题尺度的元协调提供了一条途径,这反过来又能为未来生物启发泵设备和游泳机器人的设计提供信息。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Encoding spatiotemporal asymmetry in artificial cilia with a ctenophore-inspired soft-robotic platform
A remarkable variety of organisms use metachronal coordination (i.e., numerous neighboring appendages beating sequentially with a fixed phase lag) to swim or pump fluid. This coordination strategy is used by microorganisms to break symmetry at small scales where viscous effects dominate and flow is time-reversible. Some larger organisms use this swimming strategy at intermediate scales, where viscosity and inertia both play important roles. However, the role of individual propulsor kinematics - especially across hydrodynamic scales - is not well-understood, though the details of propulsor motion can be crucial for the efficient generation of flow. To investigate this behavior, we developed a new soft robotic platform using magnetoactive silicone elastomers to mimic the metachronally coordinated propulsors found in swimming organisms. Furthermore, we present a method to passively encode spatially asymmetric beating patterns in our artificial propulsors. We investigated the kinematics and hydrodynamics of three propulsor types, with varying degrees of asymmetry, using Particle Image Velocimetry and high-speed videography. We find that asymmetric beating patterns can move considerably more fluid relative to symmetric beating at the same frequency and phase lag, and that asymmetry can be passively encoded into propulsors via the interplay between elastic and magnetic torques. Our results demonstrate that nuanced differences in propulsor kinematics can substantially impact fluid pumping performance. Our soft robotic platform also provides an avenue to explore metachronal coordination at the meso-scale, which in turn can inform the design of future bioinspired pumping devices and swimming robots.
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