Computational and Experimental Design of Fast and Versatile Magnetic Soft Robotic Low Re Swimmers

作     者：Pramanik, Ratnadeep Park, Minjo Ren, Ziyu Sitti, Metin Verstappen, Roel W.C.P. Onck, Patrick R. 

作者机构：Computational & Numerical Mathematics Group Bernoulli Institute for Mathematics Computer Science & Artificial Intelligence University of Groningen Netherlands Micromechanics Group Zernike Institute for Advanced Materials University of Groningen Netherlands Physical Intelligence Department Max Planck Institute for Intelligent Systems Stuttgart Germany School of Mechanical Engineering and Automation Beihang University Beijing China Institute for Biomedical Engineering ETH Zurich Switzerland School of Medicine College of Engineering Koc University Istanbul Turkey 

出 版 物：《SSRN》 

年 卷 期：2024年

核心收录：

主　　题：Reynolds number 

摘      要：Miniaturized magnetic soft robots have shown extraordinary capabilities of contactless manipulation, complex path maneuvering, precise localization, and rapid actuation, enabling them to cater to challenging biomedical applications such as targeted drug delivery, internal wound healing, and laparoscopic surgery. However, despite their successful fabrication by several different research groups, a thorough design strategy encompassing the optimized kinematic performance of the three fundamental biomimetic swimming modes at miniaturized length scales has not been reported until now. Here, we resolve this by designing magnetic soft robotic swimmers (MSRSs) from the class of helical and undulatory low Reynolds number (Re) swimmers using a fully coupled, experimentally calibrated computational fluid dynamics model. We study (and compare) their swimming performance, and report their steady-state swimming speed for different non-dimensional numbers that capture the competition by magnetic loading, nonlinear elastic deformation, and viscous solid-fluid coupling. We investigated their stability for different initial spatial orientations to ensure robustness during real-life applications. Our results show that the helical finger-shaped swimmer is by far the fastest low Re swimmer in terms of body lengths per cycle, but that the undulatory carangiform-like swimmer proved to be the most versatile, bidirectional swimmer with maximum stability. © 2024, The Authors. All rights reserved.