The coupling effect between elastic deformation and the rigid motion was concerned in the dynamic equations. At the same time, the flexible manipulators were assumed as Euler-Bernoulli beams, the elastic deformation of the manipulator was represented by modality truncation equations, both elastic and gravitational potential energy were considered to calculate the total energy for whole system, therefore the finial dynamic modeling is more accurate and simple than others published.

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It implies that the calculation of movements of mobile cells is not accurate enough, that must affects the mass exchange between the mobile cells and immobile cells. Furthermore, because the value of concentration be calculated is always at center of an element and the finite difference grid is fixed, which may gives rise to numerical dispersion, especially when the steps of space are injudiciously selected.

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