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A bionic bird jumping grasping structure design based on stm32 development board control.
Chunpeng Zhang1,2, Weiping Shao3,4, Yongping Hao5,2
1School of Mechanical Engineering, Shenyang Ligong University, Shenyang, 110159, China.
Scientific Reports
|May 7, 2024
Summary
This study designed a bionic bird lower limb for jumping and grasping, using a PID algorithm for precise motor control. The optimized foot structure enhances stability and grasping, improving the bionic ornithopter
Area of Science:
- Robotics and Biomechanics
- Bio-inspired Engineering
Background:
- Birds utilize specialized leg and foot structures for efficient takeoff, landing, and grasping.
- Bionic systems often mimic avian locomotion for enhanced performance.
Purpose of the Study:
- To design and optimize a bionic bird's lower limb structure for effective jumping and grasping.
- To enhance the stability and grasping capabilities of bionic ornithopters.
Main Methods:
- A bionic bird lower limb was designed, referencing avian leg functions.
- A Proportional-Integral-Derivative (PID) algorithm on an STM32 development board controlled motor speed via a sinusoidal waveform.
- Bionic paw structure was optimized based on grasping response time and force.
- A photosensitive sensor enabled intelligent control of the grasping action.
- ADAMS software was used for kinematic verification of the lower limb structure.
Main Results:
- The four- and three-toed foot structures demonstrated superior body stability during fast grasping.
- Adjusting the sinusoidal waveform rate of motor speed effectively improved the bionic ornithopter's push-lift ratio.
- The intelligent control system, utilizing photosensitive sensors, ensured precise grasping actions.
Conclusions:
- The developed bionic bird lower limb effectively replicates avian jumping and grasping functions.
- Optimized foot morphology and intelligent control are crucial for enhancing bionic ornithopter performance.
- This research provides a foundation for more advanced bio-inspired robotic locomotion systems.
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