Design and Dynamical Modelling and Control of a Micro-swimmer with High Maneuverability

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Esfandbod, Alireza | 2017

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Type of Document: M.Sc. Thesis
Language: Farsi
Document No: 50000 (08)
University: Sharif University of Technology
Department: Mechanical Engineering
Advisor(s): Nejat, Hossein; Meghdari, Ali
Abstract:
Up to now many different mechanisms have been proposed for a swimming micro robot, but most of the previously designed micro robots are not able to perform three- dimensional maneuver and the motion of the proposed swimmers are limited along a straight line or in a plane. Some important issues that must be ruled in designing micro robots include: reduced number of actuators, high maneuverability, high motion controllability and elimination of lateral drift. In this study the aim is to design a micro swimmer with the aforementioned capabilities as much as possible. In this regard, many different ideas based on the quadrotor motion, flagellated bacteria and spiral flagellated bacteria, Fish fin and magnetic micro swimmer are investigated and compared. The goal of this research is to develop some models base on the combination of the existing models and using creativity and innovation to achieve higher maneuverability and after dynamic modelling and simulation of them, begin dynamic and control implementation in fluid flow environment for the one selected model
Keywords:
Low Reynolds Number ; Creeping Flow ; Maneuverability ; Swimming Microrobot ; Medical Microrobot

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