Análisis de la estabilidad mecánica y la locomoción de micromáquinas biohíbridas impulsadas por microalgas en simulación con Pybullet

This study aimed to evaluate the mechanical feasibility and locomotion stability of microalgae-driven biohybrid micromachines under mass-loading conditions, a question that remains unexplored despite growing interest in Chlamydomonas reinhardtii-powered microrobotics. Five voxel-based micromachine designs (M1–M5), structurally inspired by experimentally validated microtrap architectures, were modeled in PyBullet and subjected to 15 simulations each under unloaded and suspended-particle-loaded conditions. Trajectory stability, speed retention, and directional coherence were quantified using Root Mean Squared Error (RMSE), percentage speed reduction (Δv), and coefficient of variation (CV), respectively. M3 exhibited the lowest trajectory deviation (RMSE = 44.88 µm) and M2 the highest (114.80 µm), while all designs retained over 98% of their unloaded speed under mechanical load (Δv = 0.05–1.74%), with M4 showing near-perfect speed retention. As a simulation-based study, biological variability and inter-voxel hydrodynamic coupling were not modeled, limiting absolute quantitative predictions; nonetheless, the relative comparisons support rational pre-screening of designs prior to costly microfabrication. This work introduces the first quantitative benchmarking framework decoupling trajectory robustness, speed retention, and directional stability as independent mechanical axes for load-bearing biohybrid locomotion. Findings indicate that load sensitivity is geometry-dependent, and structural symmetry and mass distribution predict three-dimensional coherence under load, offering a mechanistic baseline for experimental validation.