Optimization and small-amplitude analysis of Purcell's three-link microswimmer model

DOI10.1098/RSPA.2016.0425zbMATH Open1371.76181arXiv1603.02268OpenAlexW2298929024WikidataQ51167056 ScholiaQ51167056MaRDI QIDQ5363647FDOQ5363647

Authors: Yizhar Or 

Publication date: 29 September 2017

Published in: Proceedings of the Royal Society A: Mathematical, Physical and Engineering Sciences (Search for Journal in Brave)

Abstract: This work studies the motion of Purcell's three-link microswimmer in viscous flow, by using perturbation expansion of its dynamics under small-amplitude strokes. Leading-order expressions and next-order correction terms for the displacement of the swimmer are obtained for the cases of a square or circular gait in the plane of joint angles. The correction terms demonstrate the reversal in movement direction for large stroke amplitudes, which has previously only been shown numerically. In addition, asymptotic expressions for Lighthill's energetic efficiency are obtained for both gaits. These approximations enable calculating optimal stroke amplitudes and swimmer's geometry (i.e. ratio of links' lengths) for maximizing either the displacement or Lighthill's efficiency.

Full work available at URL: https://arxiv.org/abs/1603.02268

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Mathematics Subject Classification ID

Biophysics (92C05) Biopropulsion in water and in air (76Z10)

Cited In (7)

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• Geometric analysis of gaits and optimal control for three-link kinematic swimmers
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• Analysis of underactuated dynamic locomotion systems using perturbation expansion: the twistcar toy example
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• On self-propulsion of micro-machines at low Reynolds number: Purcells three-link swimmer

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