相关实验视频

Updated: Jan 15, 2026

A Robotic Platform to Study the Foreflipper of the California Sea Lion

A Robotic Platform to Study the Foreflipper of the California Sea Lion

Published on: January 10, 2017

在狭窄的空间中,螺丝形无磁力机器人的游泳动态

Luuc de Jongh¹, Anke Klingner², Leendert-Jan W Ligtenberg¹

¹RAM-Robotics and Mechatronics, University of Twente, 7500 AE Enschede, The Netherlands.

Nonlinear dynamics

|October 13, 2025

概括

优化无磁机器人 (UMR) 涉及调整螺旋曲率和身体长度,以在血管中保持一致的速度. 像规范波数这样的设计参数对于生物医学应用中稳定,高效的推进至关重要.

科学领域:

机器人和生物医学工程机器人和生物医学工程
流体动力学和微推进技术
生物医疗设备的设计

背景情况:

螺旋式无磁力机器人 (UMR) 的推进速度受到船体直径和螺旋曲率的影响.
稳定的游泳速度对于生物医学应用中血管内的UMR精确导航至关重要.

研究的目的:

为了研究船体直径和螺旋直径对UMR推进的影响.
确定最佳的UMR设计,以在不同尺寸的船只中保持一致的速度和控制.

主要方法:

在固定长度 (FL) 和固定波 (FW) 组中分析UMR.
使用Stokeslets方法与校正因子对游泳表现的建模.
在生理条件下进行ex vivo测试以验证性能.

主要成果:

FW组:较长的机器人在较大的船只中表现出色;较短的机器人在中型船只中表现出色.
FL组:在中间规范波数 (ν ≈ 11.8) 观察到的峰值速度,受几何和限制的影响.
规范波数影响速度和稳定性;在n ≈ 1时的最佳效率,在波数较高时的稳定性增加.

结论:

通过优化正常化的波数,体长和船只限制,UMR推进和控制的一致性得到了显著提高.
强大的UMR设计展示了可预测的性能,与建模和ex vivo试验相关联.
特定的设计参数对于实现针对性血管应用的稳定和可操作的UMR至关重要.

关键词:

封闭式的封闭方式游泳动态游泳动态无绑定的磁力机器人无线血管导航无线血管导航它们是ex vivo,ex vivo.

更多相关视频

Cardiac Muscle-cell Based Actuator and Self-stabilizing Biorobot - PART 1

Cardiac Muscle-cell Based Actuator and Self-stabilizing Biorobot - PART 1

Published on: July 11, 2017

Long-term Behavioral Tracking of Freely Swimming Weakly Electric Fish

Long-term Behavioral Tracking of Freely Swimming Weakly Electric Fish

Published on: March 6, 2014

相关概念视频

Buoyancy and Stability for Submerged and Floating Bodies

Buoyancy and Stability for Submerged and Floating Bodies

In fluid mechanics, buoyancy and stability are key concepts for understanding the behavior of submerged and floating bodies. When a stationary body is fully or partially submerged in a fluid, the fluid exerts a force on the body known as the buoyant force. This force acts vertically upward through a point called the center of buoyancy, which is the center of the displaced fluid volume. According to Archimedes' principle, the magnitude of the buoyant force is equal to the weight of the fluid...

Torque On A Current Loop In A Magnetic Field

Torque On A Current Loop In A Magnetic Field

The most common application of magnetic force on current-carrying wires is in electric motors. These consist of loops of wire, which are placed between the magnets with a magnetic field. When current flows through the loops, the magnetic field applies torque, which causes the shaft to rotate, thus converting electrical energy to mechanical energy.
Consider a rectangular current-carrying loop containing N turns of wire, placed in a uniform magnetic field. The net force on a current-carrying loop...

Other Unique Bacteria

Other Unique Bacteria

Magnetic bacteria exhibit a directed movement called magnetotaxis, driven by structures called magnetosomes. These magnetosomes consist of chains of magnetic particles made of either magnetite (Fe₃O₄) or greigite (Fe₃S₄) and are organized in a linear conformation by a protein scaffold within invaginations of the cell membrane. The bacteria align along the north–south magnetic field lines, much like a compass needle. They are typically microaerophilic or anaerobic...