IPMC-Based Purcell’s Three-Link Swimmer
Simulations and Experiments at Low-Reynolds Conditions
Cristina Nuevo-Gallardo (University of Extremadura)
Inés Tejado (University of Extremadura)
A. Hunt (TU Delft - Micro and Nano Engineering)
Blas M. Vinagre (University of Extremadura)
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Abstract
The Purcell’s swimmer, consisting of three links with two one-degree-of-freedom joints as defined by Edward M. Purcell, has been studied by several authors since its introduction in 1977. Researchers have delved into its mathematical foundations, analysing and optimising its motion for efficient propulsion. However, despite these theoretical advances, the practical realisation and experimental characterisation of Purcell’s swimmers remains relatively unexplored. Critical aspects such as material selection, manufacturing techniques, and experimental validation under real conditions represent important knowledge gaps. This paper contributes to bridging this gap by presenting a prototype of such a swimmer using ionic polymer-metal composites (IPMC) as link actuators. A simulation model is developed based on physical modelling tools in MATLAB®/Simulink®. Both simulation and experimental results at low-Reynolds-number ((Formula presented.)) conditions are presented to demonstrate the performance of the swimmer.
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