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内部阻尼对摩擦环境中的机动运动的影响
Brian Van Stratum1, Jonathan Clark1, Kourosh Shoele1
1Department of Mechanical Engineering, FAMU-FSU College of Engineering, Tallahassee, Florida 32310, USA.
Physical review. E
|June 17, 2023
概括
内部缓冲显著影响爬行机动. 调整此属性可以控制步态,包括逆转方向,并优化生物灵感机器人的速度.
科学领域:
- 生物力学 生物力学
- 机器人技术 机器人技术 机器人技术
- 机车运动 机车运动 机车运动
背景情况:
- 动荡的动物步态涉及生物系统和环境之间的复杂相互作用.
- 以前的研究往往忽视了肌肉努力,身体形状和运动中的外部力量之间的相互作用.
- 生物灵感机器人中的内部缓冲是一种可调节的参数,对性能影响的了解很少.
研究的目的:
- 为了研究内部阻尼对粘弹性爬行机机动性能的影响.
- 为了模拟爬虫驱动,使用移动波的曲时刻.
- 分析异构库伦摩擦在环境相互作用中的作用.
主要方法:
- 用了一种连续的,粘性弹性,非线性光束模型为爬虫.
- 模拟的肌肉启动作为一个向后传播的曲动量的移动波.
- 整合了异型库伦摩擦来模拟环境力量,模仿蛇和的.
主要成果:
- 变化的内部缓改变了爬虫机的运动性能.
- 通过调整内部阻尼,可以实现明确的步态,包括向前和向后移动.
- 可以确定最大爬行速度的最佳内部阻尼.
结论:
- 内部缓冲是控制爬行器步态和方向的关键因素.
- 这项研究为设计具有可调节运动能力的生物灵感机器人提供了洞察力.
- 了解内部缓冲效应可以导致更高效和多功能爬行机器人.
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