2012/10/02 by V. A. Vladimirov, Vladimir A. Vladimirov, Vladimirov, Vladimir A. · 1 citation
Engineering · Mathematics · Physics and Astronomy · #70H09 #76D07 #76Z10 #Biological Physics (physics.bio-ph) #FOS: Physical sciences #Fluid Dynamics (physics.flu-dyn) #Mathematical Physics (math-ph) #Micro and Nano Robotics #Modular Robots and Swarm Intelligence #Molecular Communication and Nanonetworks #Soft Condensed Matter (cond-mat.soft) #cond-mat.soft #math-ph #math.MP #msc:70H09 #msc:76D07 #msc:76Z10 #physics.bio-ph #physics.flu-dyn
paper · pdf · doi:10.48550/arxiv.1210.0747
15 pages. arXiv admin note: substantial text overlap with arXiv:1209.2835, arXiv:1209.0171
arxiv created 2012/10/02 · openalex publication_date 2012/10/02 · arxiv updated 2012/10/03 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
In this paper we study the self-propulsion of a triangular micro-robot (or triangle-robot) which consists of three spheres connected by three rods; the rods' lengths are changing independently and periodically. Using the asymptotic procedure containing the two-timing method and distinguished limit arguments, we obtain analytic expressions for self-propulsion velocity the angular velocity. Our calculations show that a triangle-robot rotates with constant angular velocity around its centroid, while the centroid moves in a circle. The important special case of zero angular velocity represents rectilinear translational self-propulsion with constant velocity.