Nanorobot Swimmer: Scallop Theorem & Non-Reciprocal Propulsion

At the nanoscale, viscous drag overwhelms inertia — Purcell's scallop theorem says any actuator that simply retraces its own motion produces zero net swimming, no matter how fast it moves. This simulator renders a real three-link nanoswimmer whose two hinges are driven with an adjustable phase offset, and integrates the geometric-phase "area rule" for low-Reynolds-number locomotion live, frame by frame. Set the phase offset to 0° or 180° and watch the swimmer flap in place exactly as the scallop theorem predicts; move it toward 90° and a genuine non-reciprocal stroke opens up, producing real net displacement with live speed and position readouts, plus stroke-amplitude and beat-frequency controls to see how each shapes the swimming speed.