A three-sphere swimmer for flagellar synchronization

In a recent letter (Friedrich et al 2012 Phys. Rev. Lett. 109 138102), a minimal model swimmer has been proposed that propels itself at low Reynolds numbers by the revolving motion of a pair of spheres. The motion of the two spheres can synchronize by virtue of a hydrodynamic coupling that depends on the motion of the swimmer, but is rather independent of direct hydrodynamic interactions. This novel synchronization mechanism could account for the synchronization of a pair of flagella, e.g. in the green algae Chlamydomonas. In this paper, we discuss in detail how swimming and synchronization depend on the geometry of the model swimmer and compute the swimmer design for optimal synchronization. Our analysis highlights the role of broken symmetries in swimming and synchronization.