Development and Control of a Three flagellar Microswimmer for ۳D Path Tracking in Biomedical Applications

The use of microswimmer in biomedical fields such as drug delivery, microsurgery, and disease monitoring increases the importance of research in MEMS technology. This paper introduces a three degrees-of-freedom microswimmer, inspired by the flagellar movement of microorganisms like bacteria. The design utilizes three flagella that generate propulsion by rotating in a fluid medium. This microrobot can conduct three-dimensional maneuvers and travel along intricate three-dimensional paths. After dynamic modeling of the microrobot's motion, a controller has been designed to facilitate accurate path tracking. The propulsion force produced by the flagella is modeled using resistive-force theory. To achieve precise tracking control along the desired motion trajectories, the feedback linearization method is applied. The incorporation of three flagella enables the microrobot to perform various three-dimensional maneuvers effectively. Simulation results demonstrate that the tracking performance of the proposed control system is highly reliable, allowing the microrobot to successfully follow its intended trajectories.

کلیدواژه ها:

biomedical microrobots ، microswimmer ، tracking control ، Three-Dimensional Maneuvers