Mathematical Modelling of Swimming Soft Microrobots presents a theoretical framework for modelling of soft microrobotic systems based on resistive-force theory. Microorganisms are highly efficient at swimming regardless of the rheological and physical properties of the background fluids. This efficiency has inspired researchers and Engineers to develop microrobots that resemble the morphology and swimming strategies of microorganisms. The ultimate goal of this book is threefold: first, to relate resistive-force theory to externally and internally actuated microrobotic systems; second, to enable the readers to develop numerical models of a wide range of microrobotic systems; third, to enable the reader to optimize the design of the microrobot to enhance its swimming efficiency.
1. Chapter 1. Introduction: Soft microrobots - p. 1 2. Part I: Fundamentals of the theory of elasticity, electromagnetics, and fluid mechanics - p. page15 3. Chapter 2. Theory of elasticity: Soft bodies - p. 19 4. Chapter 3. Theory of electromagnetics: Soft-magnetic bodies - p. 43 5. Chapter 4. Fluid mechanics and resistive-force theory: Drag-based propulsion - p. 61 6. Part II: Internally actuated swimming soft microrobots - p. 77 7. Chapter 5. Principles of propulsion by flagella and cilia: Drag-based propulsion of microorganisms - p. 81 8. Chapter 6. Examples: Internally actuated swimmers - p. 105 9. Part III: Externally actuated swimming soft microrobots - p. 121 10. Chapter 7. Principles of propulsion by magnetically actuated soft bodies: Magnetically actuated soft microrobots - p. 125 11. Chapter 8. Examples: Magnetically actuated microrobots - p. 137 12. Part IV: Localization and motion control of soft microrobots - p. 147 13. Chapter 9. Localization of soft microrobots: Non-invasive localization - p. 151 14. Chapter 10. Open-loop control of soft microrobots: Electromagnetic- and magnetic-based manipulation - p. 163 15. Chapter 11. Closed-loop control of soft microrobots: Precise and stable positioning - p. 179 16. Appendix A. Quantities and units - p. 197 17. Appendix B. Mathematical derivations - p. 203 18. Appendix C. Electromagnetic systems - p. 207 19. Appendix D. Material constants - p. 216 20. Index - p. 219
Mathematical Modelling of Swimming Soft Microrobots presents a theoretical framework for modelling of soft microrobotic systems based on resistive-force theory. Microorganisms are highly efficient at swimming regardless of the rheological and physical properties of the background fluids. This efficiency has inspired researchers and Engineers to develop microrobots that resemble the morphology and swimming strategies of microorganisms. The ultimate goal of this book is threefold: first, to relate resistive-force theory to externally and internally actuated microrobotic systems; second, to enable the readers to develop numerical models of a wide range of microrobotic systems; third, to enable the reader to optimize the design of the microrobot to enhance its swimming efficiency.
1. Chapter 1. Introduction: Soft microrobots - p. 1 2. Part I: Fundamentals of the theory of elasticity, electromagnetics, and fluid mechanics - p. page15 3. Chapter 2. Theory of elasticity: Soft bodies - p. 19 4. Chapter 3. Theory of electromagnetics: Soft-magnetic bodies - p. 43 5. Chapter 4. Fluid mechanics and resistive-force theory: Drag-based propulsion - p. 61 6. Part II: Internally actuated swimming soft microrobots - p. 77 7. Chapter 5. Principles of propulsion by flagella and cilia: Drag-based propulsion of microorganisms - p. 81 8. Chapter 6. Examples: Internally actuated swimmers - p. 105 9. Part III: Externally actuated swimming soft microrobots - p. 121 10. Chapter 7. Principles of propulsion by magnetically actuated soft bodies: Magnetically actuated soft microrobots - p. 125 11. Chapter 8. Examples: Magnetically actuated microrobots - p. 137 12. Part IV: Localization and motion control of soft microrobots - p. 147 13. Chapter 9. Localization of soft microrobots: Non-invasive localization - p. 151 14. Chapter 10. Open-loop control of soft microrobots: Electromagnetic- and magnetic-based manipulation - p. 163 15. Chapter 11. Closed-loop control of soft microrobots: Precise and stable positioning - p. 179 16. Appendix A. Quantities and units - p. 197 17. Appendix B. Mathematical derivations - p. 203 18. Appendix C. Electromagnetic systems - p. 207 19. Appendix D. Material constants - p. 216 20. Index - p. 219
