Theory of a triangular micro-robot

Research output: Working paperPreprint


In this paper we study the self-propulsion of a triangular micro-robot (or triangle-robot) which consists of three spheres connected by three rods; the rods' lengths are changing independently and periodically. Using the asymptotic procedure containing the two-timing method and distinguished limit arguments, we obtain analytic expressions for self-propulsion velocity the angular velocity. Our calculations show that a triangle-robot rotates with constant angular velocity around its centroid, while the centroid moves in a circle. The important special case of zero angular velocity represents rectilinear translational self-propulsion with constant velocity.
Original languageEnglish
Number of pages15
Publication statusUnpublished - 2 Oct 2012

Bibliographical note

arXiv admin note: substantial text overlap with arXiv:1209.2835, arXiv:1209.0171

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