Temassız Manyetik Mikro Manipülasyon için Bernoulli Denklemine Dayalı Robotik Model

Öz

Mikro manipülasyon, biyomedikal mikro robotik uygulamaların önemli bir parçasıdır. Canlı hücreler ile yapilan testler, yapısal bütünlüklerinden ödün vermemek için numunelerin hassas bir şekilde işlenmesini gerektirir. Hidrodinamik etkileşimler yoluyla temassız mikro manipülasyon, alternatif bir güvenilir yöntem olarak öne çıkmaktadir. Literatürde bu tür mikro robotik sistemlerin kullanımını gösteren çok sayıda sayısal ve deneysel çalışma bulunmaktadır. Ayrıca, temassız manipülasyonu açıklayan analitik modeller, katı cisim hareketi için atalet kuvvetleri ile birlikte yüksek mertebeden etkilere veya arayüzey etkileşimlerine dayanmaktadır. Bu çalışmada, dönen bir manyetik parçacık tarafından indüklenen zorlanmış bir girdabın akış alanı, hareket denkleminde örtük olarak uygulanan Magnus etkisi ile birlikte akış çizgileri boyunca enerjinin korunumu yardımıyla modellenmiştir. Manyetik olmayan bir partikül, indüklenen akış tarafından sürüklenecek şekilde modellenmesine rağmen, akış çizgilerinin bozulmadığı varsayılmaktadır. Manyetik olmayan parçacığın rijit cisim hareketi, radyal yön boyunca sürükleme katsayıları ve basınç farkı yardımıyla elde edilmektedir. Ve basınç farkı, parçacığın ekseni boyunca katı cisim dönüşü ile birlikte hesaplanmaktadır. Sonuçlar, sabit radyal konuma sahip kararlı bir yörüngeye işaret ederken, manyetik olmayan parçacık, zorlanmış girdabın çekirdeği etrafında bir tam dönüşü tamamlar. Ayrıca, mayetik adım atlama durumunda partiküllerin katı cisim hareketinin stabilitesinin zarar görmediği gözlemlenmiştir.

Anahtar Kelimeler

• Temassız manipülasyon
• Robotik simülasyon
• Bernoulli denklemi
• Zorlanmış girdap akışı

Bernoulli-Equation-Based Robotic Model for Non-Contact Magnetic Micromanipulation

Abstract

Micromanipulation is an important part of biomedical micro-robotic applications. The lab-on-a-chip applications with live cells and require delicate handling of samples to not compromise their structural integrity. The non-contact micromanipulation via hydrodynamic interactions stands out as an alternative reliable method to avoid this problem. There are several numerical and experimental studies in the literature demonstrating the use of such micro-robotic systems. Furthermore, the analytical models explaining the non-contact manipulation rely on higher-order effects or interfacial interactions along with the inertial forces for rigid-body motion. In this study, the flow field of a free vortex, induced by a rotating magnetic particle, is modeled with the help of conservation of energy across the curvilinear streamlines along with the Magnus effect implicitly implemented in the equation of motion. The streamlines are assumed to be undisturbed although a non-magnetic particle is modeled to be dragged by the induced flow. The rigid body motion of the non-magnetic particle is obtained with the help of drag coefficients and pressure difference along the radial direction. And the pressure difference is predicted along with the rigid-body rotation of the particle along its axis. The results indicate a stable orbit with a constant radial position while the non-magnetic particle completes one full revolution around the core of the free vortex. Furthermore, it has been observed that the step-out phenomenon does not undermine the stability of the rigid-body motion of the particles.

Keywords

• Non-contact manipulation
• Robotic simulation
• Bernoulli equation
• Free vortex flow

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