相关论文: Optimal Design for Purcell Three-link Swimmer

This work studies the motion of Purcell's three-link microswimmer in viscous flow, by using perturbation expansion of its dynamics under small-amplitude strokes. Leading-order expressions and next-order correction terms for the displacement…

Micron-scale swimmers move in the realm of negligible inertia, dominated by viscous drag forces. In this paper, we formulate the leading-order dynamics of a slender multi-link (N-link) microswimmer assuming small-amplitude undulations about…

Elongate animals and robots use undulatory body waves to locomote through diverse environments. Geometric mechanics provides a framework to model and optimize such systems in highly damped environments, connecting a prescribed shape change…

For large enough aspect ratio, we find better stroke patterns then the patterns proposed by D. Tam and A.P.Hosoi in their letter to PRL "Optimal Stroke Patterns for Purcell's Three-Link Swimmer".

We study the effects of hydrodynamic interactions between a wall and the Purcell three-link swimmer in the two-dimensional case. After deriving the equations of motion in a low Reynolds number regime using Resistive Force Theory with…

Robotic swimmers are currently a subject of extensive research and development for several underwater applications. Clever design and planning must rely on simple theoretical models that account for the swimmer's hydrodynamics in order to…

The controllability of a fully three-dimensional $N$-link swimmer is studied. After deriving the equations of motion in a low Reynolds number fluid by means of Resistive Force Theory, the controllability of the minimal $2$-link swimmer is…

In this article we present the discrete-time isoholonomic problem of the planar Purcell's swimmer and solve it using the Discrete-time Pontryagin maximum principle. The 3-link Purcell's swimmer is a locomotion system moving in a low…

Purcell's planar three-link microswimmer is a classic model of swimming in low-Reynolds-number fluid, inspired by motion of flagellated microorganisms. Many works analyzed this model, assuming that the two joint angles are directly…

We analyse weak and strong controllability notions for the locomotion of the 3-link Purcell's swimmer, the simplest possible swimmer at low Reynolds number from a geometric framework. After revisiting a purely kinematic form of the…

This study investigates the dynamics and controllability of a Purcell three-link microswimmer equipped with passive elastic torsional coils at its joints. By controlling the spontaneous curvature, we analyse the swimmers motion using both…

Optimal gait design is important for micro-organisms and micro-robots that propel themselves in a fluid environment in the absence of external force or torque. The simplest models of shape changes are those that comprise a series of…

We present a generalized, 3 dimensional version of the Purcell's swimmer which is a planar mechanism locomoting at low Reynlods number regime. We use Cox theory and resistive force theory to come up with the forces acting on the system. We…

Motile microorganisms develop effective swimming gaits to adapt to complex biological environments. Translating this adaptability to smart microrobots presents significant challenges in motion planning and stroke design. In this work, we…

Swimming consists by definition in propelling through a fluid by means of bodily movements. Thus, from a mathematical point of view, swimming turns into a control problem for which the controls are the deformations of the swimmer. The aim…

Combining geometric mechanics theory, laboratory robotic experiment and numerical simulation, we study the locomotion in granular media (GM) of the simplest non-inertial swimmer, the Purcell three-link swimmer. Using granular resistive…

Micro-robotics at low Reynolds number has been a growing area of research over the past decade. We propose and study a generalized 3-link robotic swimmer inspired by the planar Purcell's swimmer. By incorporating out-of-plane motion of the…

We study self propelled stokesian robots composed of assemblies of balls, in dimensions 2 and 3, and prove that they are able to control their position and orientation. This is a result of controllability, and its proof relies on applying…

Fish swim by undulating their bodies. These propulsive motions require coordinated shape changes of a body that interacts with its fluid environment, but the specific shape coordination that leads to robust turning and swimming motions…

The swimming of a deformable planar slab in a viscous incompressible fluid is studied on the basis of the Navier-Stokes equations. A continuum of plane wave displacements, symmetric on both sides of the slab and characterized by a…