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生物机器人设计和模拟的多体系统动态,基于的步态:MBD-ILAR方法
José Cornejo1,2, J Enrique Sierra1, Francisco Javier Gomez-Gil1
1Department of Electromechanical Engineering, University of Burgos, 09006 Burgos, Spain.
Bioinspiration & biomimetics
|November 29, 2024
概括
这项研究引入了一种新的数学方法,即动机器人的多体动力学 (MBD-ILAR),用于模拟虫机器人的步态. MBD-ILAR方法有助于选择用于载荷机器人的机器人执行器和固定机制.
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.
- 机械工程 机械工程
背景情况:
- 卡特彼勒 (Caterpillar) 的英寸引擎启发了适应性英寸机器人的设计,以适应各种环境.
- 现有的方法缺乏标准化来模拟这些仿生机器人的步态,特别是在携带有效载荷时.
研究的目的:
- 引入一种新的数学方法,即用于步行模拟的多体动力学机器人 (MBD-ILAR) 的多体动力学.
- 为了标准化英寸机器人的模拟,包括有效载荷集成和执行器选择.
主要方法:
- MBD-ILAR方法涉及三个步骤:模型设置 (定义步行阶段,尺寸,关节,质量,重力),运动分析 (方向,速度,加速) 和动态分析 (关节力,附着力,扭矩,功率).
- 一个案例研究从*Geometridae sp.中调整了尺寸. *,使用图形用户界面 (GUI) 来生成生物机械结果.
- 验证包括对链路长度,质量和重力的影响研究.
主要成果:
- MBD-ILAR方法为执行器选择提供了生物力学结果,包括附着机制 (吸管,电磁体) 和接头 (伺服电机).
- 数字验证证实了该方法的准确性,通过对附着力,扭矩和机械功率的参数影响研究.
- 图形用户界面有助于分析和选择合适的机器人组件.
结论:
- MBD-ILAR方法提供了一个标准化的方法来模拟虫机器人的步态和设计机器人系统.
- 这种计算工具可以在物理机械电子实现之前,优化机器人设计.
- 该方法的适应性扩展到其他受关节动物启发的机器人.
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