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Planar Motion Control and Path Following of a Biomimetic Helical Swimmer Robot in Low Reynolds Condition
, M.Sc. Thesis Sharif University of Technology ; Sayadi, Hassan (Supervisor)
Abstract
Today, the use of controllable swimmer micro-robots has expanded from micro to macro-scale dimensions due to their many applications. These robots, as a result of their small size and dimensions, have the ability to access limited and complex environments. Considering the various applications of such swimmers, it can be said that in addition to the necessity of well designing and implementation, their maneuverability and controllability are among the most important research areas on these swimmers. Regarding the dimensions and technologies needed for these robots, various methods for designing and implementing them are suggested, which are mostly inspired by the nature of microorganisms. In...
Design and Fabrication of a Swimmer Robot at Low Reynolds Number
, Ph.D. Dissertation Sharif University of Technology ; Sayyadi, Hassan (Supervisor)
Abstract
Helical swimming robots with a capable propulsion system at low Reynolds numbers have been proposed for many applications. Although linear propulsion characteristics of swimming robots with a single helical flagellum have been extensively studied, the characteristics of maneuverability have not been completely investigated yet. In this thesis two novel mechanisms was proposed. The first mechanism presents a new method for the maneuverability of the helical swimming robot with a single helical flagellum. This mechanism is based on the change in the angle between the helical and body axes. This study shows that a change in the aforementioned angle can enable the swimming robot to have turning...
Hydrodynamics maneuver of a single helical flagellum swimming robot at low-Reynolds condition
, Article Microfluidics and Nanofluidics ; Volume 23, Issue 1 , 2019 ; 16134982 (ISSN) ; Bahmanyar, S ; Sharif University of Technology
Springer Verlag
2019
Abstract
Helical swimming robots with a capable propulsion system at low-Reynolds numbers have been proposed for many applications. Although linear propulsion characteristics of swimming robots with a single helical flagellum have been extensively studied, the characteristics of maneuverability have not been completely investigated yet. This study presents a new method for the maneuverability of the helical swimming robot with a single helical flagellum. This mechanism is based on the change in the angle between the helical and body axes. This study shows that a change in the aforementioned angle can enable the swimming robot to have turning maneuvers in clockwise or counterclockwise directions....
Hydrodynamics maneuver of a single helical flagellum swimming robot at low-reynolds condition
, Article Microfluidics and Nanofluidics ; Volume 23, Issue 1 , 2019 ; 16134982 (ISSN) ; Bahmanyar, S ; Sharif University of Technology
Springer Verlag
2019
Abstract
Helical swimming robots with a capable propulsion system at low-Reynolds numbers have been proposed for many applications. Although linear propulsion characteristics of swimming robots with a single helical flagellum have been extensively studied, the characteristics of maneuverability have not been completely investigated yet. This study presents a new method for the maneuverability of the helical swimming robot with a single helical flagellum. This mechanism is based on the change in the angle between the helical and body axes. This study shows that a change in the aforementioned angle can enable the swimming robot to have turning maneuvers in clockwise or counterclockwise directions....