Abstract
In this paper we study the self-propulsion of a dumbbell micro-robot submerged in a viscous fluid. The micro-robot consists of two rigid spherical beads connected by a rod or a spring; the rod/spring length changes periodically. The constant density of each sphere differs from the density of the fluid, while the whole micro-robot has neutral buoyancy. An effective oscillating gravity field is created via rigid-body oscillations of the fluid. Our calculations show that the micro-robot undertakes both translational and rotational motion. Using an asymptotic procedure containing a two-time method and a distinguished limit, we obtain analytic expressions for the averaged self-propulsion velocity and averaged angular velocity. The important special case of zero angular velocity represents rectilinear self-propulsion with constant velocity. In particular, we have shown that: (a) no unidirectional oscillations of a fluid result in self-propulsion; and (b) for the oscillations of a fluid in two directions rectilinear motion of a microrobot can be achieved.
| Original language | English |
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| Article number | R8 |
| Number of pages | 11 |
| Journal | Journal of Fluid Mechanics |
| Volume | 717 |
| Early online date | 7 Feb 2013 |
| DOIs | |
| Publication status | Published - Feb 2013 |