实验研究和几何方法来设计生物灵感的机器人动力学链条的移动火车
José Cornejo1, J Enrique Sierra-Garcia1, Francisco Javier Gomez-Gil1
1Department of Electromechanical Engineering, University of Burgos, 09006 Burgos, Spain.
Bioinspiration & biomimetics
|January 4, 2024
概括
这项研究介绍了一种生物灵感的机器人设计 (BIROD) 方法,使用几何动力分析 (GEKINS) 来模仿毛虫的运动. 该方法分析毛虫解剖学,以告知先进的生物灵感机器人的设计.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 生物模拟学是一种生物模拟学.
- 运动学 运动学
背景情况:
- 毛虫表现出了显著的灵活性和灵活性,在他们的步行机动.
- 设计具有类似适应能力的机器人需要了解昆虫生物力学.
- 现有的机器人设计往往缺乏毛虫的细微运动能力.
研究的目的:
- 介绍一种新的生物灵感机器人设计 (BIROD) 方法.
- 开发一个几何运动分析算法 (GEKINS) 以基于昆虫解剖学的机器人设计进行标准化.
- 为机器人应用分析特定毛虫物种的运动和运动链.
主要方法:
- 在BIROD方法中集成了GEKINS用于解剖标准化和动力链提取.
- 对 *Geometridae* 和 *Plusiinae* 毛虫的运动和动力学进行实验分析.
- 固定机制,关节,链接,角位移,速度和自由度的计算.
主要成果:
- 吉金斯算法成功识别了毛虫中的关键动力学参数.
- 与Plusiinae相比,*Geometridae*的脚步长度更长,旋转关节更少 (2D中的3个DOF,3D中的6个DOF),而Plusiinae的脚步长度更长 (2D中的4个DOF,3D中的8个DOF).
- 对于超过35,000种英寸移动虫 (ILAR) 种类的前向动力学被确定.
结论:
- BIROD方法和GEKINS算法为分析ILAR动力学提供了一个框架.
- 这种方法有助于设计仿真毛虫运动的生物灵感机器人.
- 这些发现对于生物灵感节肢动物机器人的初步设计阶段至关重要.
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