# Stochastic Dynamic Analysis of a Three-Tailed Helical Microrobot in Confined Spaces

## TL;DR

This paper studies how three-tailed helical microrobots move in tight spaces, showing how noise and fluid properties affect their speed and path.

## Contribution

A novel stochastic dynamic model is introduced to analyze the impact of noise and fluid conditions on microrobot motion in confined spaces.

## Key findings

- Gaussian white noise reduces microrobot velocity by 49% compared to deterministic conditions.
- Increasing current or reducing fluid viscosity significantly decreases traversal time to bifurcation points.
- Optimizing control parameters can mitigate noise effects and improve microrobot performance in complex environments.

## Abstract

This study investigates the complex dynamic behavior of three-tailed helical microrobots operating in confined spaces. A stochastic dynamic model has been developed to analyze the effects of input angular velocity, current, fluid viscosity, and channel width on their motion trajectories, velocity, mean squared displacement (MSD), and wobbling rate. The results indicate that Gaussian white noise exerts a dispersive driving effect on the motion characteristics of the microrobots, leading to a 49% reduction in their velocity compared to deterministic conditions. Additionally, the time required for microrobots to traverse from the initial position to the bifurcation point decreases by 65% when the current is increased and by 39% when the fluid viscosity is reduced. These findings underscore the importance of optimizing control parameters to effectively mitigate noise impacts, enhancing the practical performance of the microrobots in real-world applications. This research offers solid theoretical support and guidance for the deployment of microrobots in complex environments.