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Micromotors show many advantages in practical applications, including small size, large push-to-weight ratio, and low power consumption. Micromotors have been widely used in a variety of applications, including cell manipulation, payload delivery, and removal of toxic components. Among them, bubble-driven micromotors have received great attention due to their large driving force and high speed. The driving force of the bubble-driven micromotor movement comes from the four stages of the life cycle of the bubble: nucleation, growth, slip, and ejection. At present, investigators are still unclear about the driving mechanism of the bubble-driven micromotors, the source of the driving force being still especially controversial. In response to this problem, this paper combines the mass transfer model, hydrodynamic theory, and numerical simulation to explain the driving force generated by the various stages of the life-cycle of the bubble. A mass transfer model was used to calculate the driving force of the motor contributed by the bubble nucleation and slip stage. Based on equilibrium of force and conservation of energy, a theoretical model of the driving force of the tubular micromotor in the growth and ejection stage of the bubble was established. The results show that the driving force contributed by the bubble in the nucleation and the slip stage is rather small. However, the stage of bubble growth and ejection provide most of the driving force. On further evaluating the effect of the bubble driving force on the motor speed, it was found that the growth stage plays a major role in the motion of the bubble-driven micromotor. The micromotor velocity based on the driving forces of the full life-cycle of bubbles agrees well with the experimental results.

Driving Forces of the Bubble-Driven Tubular Micromotor Based on the Full Life-Cycle of the Bubble