设计出快速且灵活的微型磁控软体机器人，实现高效低雷诺数游泳。
Computational and experimental design of fast and versatile magnetic soft robotic low Re swimmers
- 基于流体-弹性耦合模型，优化螺旋与波浪式泳态设计。
- 螺旋型机器人每周期游动距离达3.2体长，为最快低雷诺数泳者。
- 波浪型机器人双向稳定，适合复杂生物环境应用。
微型磁控软体机器人展现出无接触操控、复杂路径运动、精确定位和快速驱动等卓越能力，适用于靶向药物递送、内部伤口愈合和腹腔镜手术等挑战性生物医学场景。尽管多个研究团队已成功制备此类机器人，但针对微米尺度下三种典型仿生泳态（螺旋与波浪式）的最优运动性能系统性设计策略尚未报道。本文通过构建全耦合、实验校准的计算流体力学模型，设计了磁控软体游泳器（MSRSs），研究并比较其在不同非维参数下的游泳性能，这些参数反映磁载荷、非线性弹性变形与粘性固-液耦合之间的竞争关系。同时考察不同初始空间姿态下的稳定性，确保实际应用中的鲁棒性。结果表明，螺旋‘手指状’机器人在体长/周期方面显著最快（达3.2体长/周期），而波浪‘鲹鱼状’机器人表现出最强的灵活性与双向稳定性，是最具适应性的泳者。
原文摘要 · Abstract (English)
Miniaturized magnetic soft robots have shown extraordinary capabilities of contactless manipulation, complex path maneuvering, precise localization, and quick actuation, which have equipped them to cater to challenging biomedical applications such as targeted drug delivery, internal wound healing, and laparoscopic surgery. However, despite their successful fabrication by several different research groups, a thorough design strategy encompassing the optimized kinematic performance of the three fundamental biomimetic swimming modes at miniaturized length scales has not been reported till now. Here, we resolve this by designing magnetic soft robotic swimmers (MSRSs) from the class of helical and undulatory low Reynolds number (Re) swimmers using a fully coupled, experimentally calibrated computational fluid dynamics model. We study (and compare) their swimming performance, and report their steady-state swimming speed for different non-dimensional numbers that capture the competition by magnetic loading, non-linear elastic deformation and viscous solid-fluid coupling. We investigate their stability for different initial spatial orientations to ensure robustness during real-life applications. Our results show that the helical 'finger-shaped' swimmer is, by far, the fastest low Re swimmer in terms of body lengths per cycle, but that the undulatory 'carangiform' swimmer proved to be the most versatile, bi-directional swimmer with maximum stability.
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