螺旋型べん毛で運動する細菌を模したマイクロロボットの概念

概要

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A concept of a micro robot is proposed. The robot is assumed to possess a spherical body and rotating helical screws as bacteria do. Formulations are conducted for describing the motion of the robot applying the resistive force theory of Stokes flow. The motions of the robot with two screws are numerically analyzed as an example. An on-off type control for rotation of the one screw is employed. When the two screws rotate in the same direction (mode 1), the robot swims almost straight. The body of the robot rotates in the opposite direction of screw rotation. When one of the screws is at a standstill and the other keeps rotation (mode 2), the robot moves along a helix. Alternating these two modes, the robot changes the direction of the motion. It is shown that the robot which can detect the distance from a destination can approach it according to a simple rule.
一般社団法人日本機械学会の論文
1998-08-25