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Design and Fabrication of a Swimmer Robot at Low Reynolds Number

Bahmanyar, Shahnaz | 2018

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  1. Type of Document: Ph.D. Dissertation
  2. Language: Farsi
  3. Document No: 52222 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Sayyadi, Hassan
  7. Abstract:
  8. 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 maneuvers in clockwise or counterclockwise directions. By following dynamical modeling of the helical swimmer motion and by the use of change in inclination angle, a suitable controller is designed for path tracking purposes. From the simulation results, the tracking performance of the designed control system is perfectly guaranteed which enables the micro robot to perform the desired maneuvers and follow the defined trajectories.The second mechanism presents a new mechanism with unique and prominent features for a helical swimmer robot. Double Helices Propulsion Mechanism consists of two parallel helices with a single axis rotating in the same direction. The outer helix acts as the main propulsion component, and the inner helix, which is made of a Shape Memory Alloy (SMA), controls the forward velocity during swimming. This mechanism, by varying the geometrical parameters of its helical tail, can change the forward velocity of the helical swimmer robot that is required by its predifined missions
  9. Keywords:
  10. Helical Swimmer Robot ; Double Helices Propulsion Mechanism (DHPM) ; Variable Forward Velocity ; Maneuverability ; Hydrodynamic Modeling ; Path Following

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