仿鞭毛菌游动的微型机器人近壁运动

鞭毛菌及模仿其运行的微机器人在靠近壁面游动时，其运动模式与远离壁面时有所不同。针对这一现象，本文利用抗力理论和Stokes方程的线性性质，对鞭毛菌在壁面附近运动时流体对其施加的作用力进行分析，建立了鞭毛菌近壁运动的动力学模型。同时计算了细菌在平行于壁面平面内的运动轨迹与游动速度，并与实验数据进行对比分析，结果验证了该理论模型 的有效性。在此基础上，探讨了鞭毛尾的几何和运动学参数与细菌的速度变化量之间的关系。本文研究为微型仿生游动机器人运动控制时规避近壁效应提供参考依据。

Locomotion of Flagella-Like Micro Robot near Solid-Liquid Interface

Near a surface, the motion of a bacterial cell becomes different from the motion unaffected by any surface. In this paper, hydrodynamic interactions between flagellated bacteria and solid surfaces are analyzed based on the resistive force theory and the linearity of the Stokes equations, so as to establish a dynamical model for the bacteria in an infinite liquid. The swimming trajectories and the speed of the bacteria along a surface are numerically analyzed, and the results are compared with the experimental data, which verifies the validity of the model. Moreover, the relation among the flagellum geometrical parameters, the flagellar rotational rate and its swimming speed variation is calculated. All above researches provide a reference for the avoidance of surface effects in the motion control of a bio-mimetic swimming robot.