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Research on untethered micro-swimming robots is growing fast owing to theirpotential impact on minimally invasive medical procedures. Candidate propulsionmechanisms of robots are based on flagellar mechanisms of microorganisms suchas rotating rigid helices and traveling plane-waves on flexible rods andparameterized by wavelength, amplitude, and frequency. For design and controlof swimming robots, accurate real-time models are necessary to computetrajectories, velocities and hydrodynamic forces acting on robots. Resistiveforce theory (RFT) provides an excellent framework for the development ofreal-time six degrees-of-freedom surrogate models for design optimization andcontrol. However, the accuracy of RFT-based models depends strongly onhydrodynamic interactions. Here, we introduce interaction coefficients thatonly multiply body resistance coefficients with no modification to localresistance coefficients on the tail. Interaction coefficients are obtained fora single specimen of Vibrio Algino reported in the literature, and used in theRFT model for comparisons of the forward-swimming component of the resultantvelocities and body rotation rates against other specimens. Furthermore, CFDsimulations are used to obtain forward and lateral velocities and body rotationrates of bio-inspired swimmers with helical tails and traveling-plane waves fora range of amplitudes and wavelengths. Interaction coefficients are obtainedfrom the CFD simulation for the helical tail with the specified amplitude andwavelength and used in the RFT model for comparisons of velocities and bodyrotation rates for other designs. Comparisons indicate that hydrodynamic modelsthat employ interaction coefficients prove to be viable surrogates forcomputationally intensive three-dimensional time-dependent CFD models.

Hydrodynamic surrogate models for bio-inspired micro-swimming robots