Multigear Bubble Propulsion of Transient Micromotors

Transient, chemically powered micromotors are promising biocompatible engines for microrobots. We propose a framework to investigate in detail the dynamics and the underlying mechanisms of bubble propulsion for transient chemically powered micromotors. Our observations on the variations of the micromotor active material and geometry over its lifetime, from initial activation to the final inactive state, indicate different bubble growth and ejection mechanisms that occur stochastically, resulting in time-varying micromotor velocity. We identify three processes of bubble growth and ejection, and in analogy with macroscopic multigear machines, we call each process a gear. Gear 1 refers to bubbles that grow on the micromotor surface before detachment while in Gear 2 bubbles hop out of the micromotor. Gear 3 is similar in nature to Gear 2, but the bubbles are too small to contribute to micromotor motion. We study the characteristics of these gears in terms of bubble size and ejection time, and how they contribute to micromotor displacement. The ability to tailor the shell polarity and hence the bubble growth and ejection and the surrounding fluid flow is demonstrated. Such understanding of the complex multigear bubble propulsion of transient chemical micromotors should guide their future design principles and serve for fine tuning the performance of these micromotors.