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Magnetic miniature swimmers with multiple rigid flagella

Stéphane Régnier


In this paper, we introduce a novel miniature swimmer with multiple rigid tails. The tails' geometry is based on spherical helices that benefit the swimmers for transporting objects with their flagellar bundle. When the swimmer is rotated, their tails provide a considerable propulsive force to generate a net displacement. Thus, achieving propulsion speeds up to 6 mm/s at 3.5 Hz (small rotation frequencies) for a 6-mm in size prototypes. We study the efficiency of different bundle distribution for a 2-flagella swimmer by varying the phase angle between tails. Moreover, it is demonstrated that these swimmers experience a great sensibility when changing their tail height. Besides, the swimmers demonstrate to be effective for cargo carrying tasks since they can displace objects up to 3.5 times their weight. Finally, the confinement effect is studied with multi-tailed swimmer robots considering 2 containers with 20 and 50-mm in width. Results showed speeds' increments up to 59% when swimmers are actuated in the smaller container.
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Dates and versions

hal-03373418 , version 1 (11-10-2021)



Johan Quispe, Stéphane Régnier. Magnetic miniature swimmers with multiple rigid flagella. 2020 IEEE International Conference on Robotics and Automation (ICRA), May 2020, Paris, France. pp.9237-9243, ⟨10.1109/ICRA40945.2020.9196531⟩. ⟨hal-03373418⟩
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