一个生物模拟粘合盘用于机器人粘合滑动,灵感来自网翼中幼虫
Haoyuan Xu1,2, Jiale Zhi3, Bohan Chen1
1School of Mechanical Engineering and Automation, Beihang University, Beijing, China.
Soft robotics
|October 16, 2024
概括
在网翼幼虫的启发下,科学家们开发了一种仿生吸器,可以在高和低摩擦状态之间切换. 这项技术使机器人能够在具有挑战性的水生环境中坚持并移动.
科学领域:
- 仿生学和生物启发的机器人
- 流体动力学和粘附科学 流体动力学和粘附科学
- 昆虫形态和运动方式
背景情况:
- 网翼幼虫 (Blephariceridae) 在动荡的水生环境中对岩石具有特殊的粘附性.
- 幼虫粘附是由强大的腹部吸器促进的,它们能够在滑动的表面上保持抓地力.
研究的目的:
- 根据滑效应,开发一个以活塞驱动的吸油机的理论模型.
- 为了设计一个仿生机器人吸器,灵感来自网翼幼虫的粘附滑动机制.
- 为了研究生物模拟吸尘器的摩擦控制和异型特性.
主要方法:
- 活塞驱动吸管与滑接触区域的理论建模.
- 一个具有V形口的仿生吸管的制造和测试.
- 开发使用仿生吸血机的机器人平台 (ASR-1和ASR-2).
主要成果:
- 仿生吸尘器在高 (4.26 kPa) 和低 (0.41 kPa) 摩擦状态之间可逆转换,达到高达93.9%的摩擦增强.
- 这种V形口诱导摩擦异构,前后力比为0.81.1.
- 机器人平台成功地导航了各种基板和流 (2.4 m/s).
结论:
- 生物模拟粘附滑动机制,灵感来自网翼幼虫,在充满挑战的空中和水中环境中提供强大的运动能力.
- 这项技术有可能开发用于长期观察和监控的先进机器人.
- 该研究强调了生物灵感设计对机器人机动和粘附的有效性.
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