This thesis of Zihan Wang aims to bridge the gaps between biological organisms and soft bioinspired microrobots, advancing these microrobots to resemble their biological counterparts more closely. To achieve this, we experimentally and theoretically investigate the variation in flagellar propulsion of sperm cells when subjected to external disturbances.
The insights gained from this study indicate that soft bioinspired microrobots can exhibit enhanced adaptability to external disturbances by improving their locomotion efficiency. In contrast to biological organisms, the locomotion efficiency of magnetically-driven soft bioinspired microrobots is directly influenced by the step-out frequency. We investigate the factors that impact the step-out frequency, including magnetic properties, geometry, wave patterns of the microrobot, and the viscosity of the surrounding medium. By integrating elastohydrodynamics with magnetism, an analytic equation is established to elucidate the relationship between the step-out frequency and these factors. Last, we propose a microrobotic system with efficient locomotion, dual-motion capabilities, and biodegradability. We utilize an adjustable centrifugally driven flow to fabricate teardrop-like and tadpole-like microrobots. The teardrop-shaped microrobots utilize rolling motion, while the tadpole-shaped microrobots employ stick-slip motion. This dual-motion capability enables them to adapt to different environments, such as obstacle crossing and navigation in confined spaces.
With their efficient locomotion, dual-motion capabilities, and biodegradability, these microrobots hold significant promise for biomedical applications.
