Motion in fluids at the micro(nano)metric scale is dominated by viscosity. One efficient propulsion method relies on a weak uniform rotating magnetic field that drives a chiral object. From bacterial flagella to artificial magnetic micro- or nanohelices, rotation of a corkscrew is considered as a universally efficient propulsion gait in viscous environments. However, recent experimental studies have demonstrated that geometrically achiral microscale objects or random-shaped magnetic aggregates can propel similarly to helical micromotors. Although approximate theories concerning dynamics of helical magnetic propellers are available, propulsion of achiral particles or objects with complex shapes is not understood. Here we present a general theory of rotation and propulsion of magnetized object of arbitrary shape driven by a rotating magnetic field. Intrinsic symmetries of the viscous mobility tensors yield compact classification of stable rotational states depending on the orientation of the magnetic moment with respect to principal rotation axes of the object. Propulsion velocity can be written in terms of geometry-dependent chirality matrix $\mathbf{Ch}$, where both the diagonal elements (owing to orientation-dependent handedness) and off-diagonal entries (that do not necessitate handedness) contribute in a similar way. In general, the theory anticipates multiplicity of stable rotational states corresponding to two (complimentary to $\pi$) angles the magnetization forms with the field rotation axis. Thus, two identical magnetic objects may propel with different speeds or even in opposite directions. However, for a class of simple achiral objects, there is a particular magnetization whereas the pair of symmetric rotational states gives rise to a unique chiral-like propulsion gait, closely resembling that of an ideal helical propeller. In other words, a geometrically achiral object can acquire apparent chirality due to its interaction with the external magnetic field. The developed theory is further applied to study the dynamics of achiral, chiral, and random-shaped magnetic propellers, rationalizing previously unexplained experimental observations. The genetic search algorithm based on the proposed theory reveals that an arc-shaped segment is the optimal (fastest) achiral propeller, while the optimal skew-symmetric shape deviates considerably from a helix. Remarkably, an optimized arc-shaped propeller warrants propulsion speeds comparable to those of the optimally magnetized helix. Although random shaped magnetic aggregates appear to be poor swimmers at low actuation frequency, at higher frequency, whereas the helical propeller ceases to rotate in-sync with the field, the propulsion speed of the aggregates could be comparable, or even higher, than that of a helix.

• Received 22 September 2016
• Revised 11 January 2017

DOI:https://doi.org/10.1103/PhysRevFluids.2.044202