Temassız Manyetik Mikro Manipülasyon için Bernoulli Denklemine Dayalı Robotik Model

摘要

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 rigidbody 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 rigidbody motion of the particles.