自发的断裂诱导的喷气流为快速,可操纵的表面和水下柔软的动游泳者
Haitao Qing1, Jiacheng Guo2, Yuanhang Zhu2,3
1Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC 27695, USA.
Science advances
|December 4, 2024
概括
研究人员开发了一种灵感来自曼塔射线的软机器人,可以实现创纪录的速度和机动性. 通过使用其翅膀独特的快速移动,机器人可以通过简单的控制有效地在复杂的水下环境中导航.
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.
- 流体动力学 流体动力学
背景情况:
- 曼塔射线的运动为生物灵感的水下机器人提供了灵感.
- 在软机器人中实现高速,高效率和机动性仍然是一个挑战.
- 目前的软游泳者通常需要复杂的执行和控制系统.
研究的目的:
- 设计一个柔软的游泳机器人,灵感来自曼塔.
- 为了克服在软机器人中整合速度,效率和机动性的挑战.
- 为了提高机器人的性能,开发了一种简化的执行和控制机制.
主要方法:
- 采用了一种单一稳定的翼设计,用于像一样的柔软游泳者.
- 采用气动 actuation 快速向下冲动和弹性力自发向上冲动.
- 研究了单输入调动频率对机器人性能的影响.
主要成果:
- 实现了每秒6.8个身体长度的创纪录速度.
- 证明了高能效和机动性.
- 展示了碰撞弹性和在有障碍的非结构化环境中有效的导航.
结论:
- 一个稳定的飞翼中自发的快速冲动简化了设计和控制.
- 这种方法使柔软的游泳机器人实现了高性能.
- 开发的机器人为水下勘探和任务提供了一个有前途的平台.
相关概念视频
Free Jet
125
Free jets describe the flow of liquid exiting a reservoir through an opening into the atmosphere without resistance. The velocity (v) of the liquid jet is derived using Bernoulli's principle and expressed as:
125
Couette Flow
206
Couette flow represents the flow of fluid between two parallel plates, with one plate fixed and the other moving with a constant velocity. This configuration allows for a simplified analysis using the Navier-Stokes equations, which govern fluid motion under conditions of viscosity and incompressibility. For Couette flow, the assumptions include a steady, laminar, incompressible flow with a zero-pressure gradient in the flow direction. This flow type is beneficial for understanding shear-driven...
206
Irrotational Flow
409
Irrotational flow is characterized by fluid motion where particles do not rotate around their axes, resulting in zero vorticity. For a flow to be irrotational, the curl of the velocity field must be zero. This imposes specific conditions on velocity gradients. For instance, to maintain zero rotation about the z-axis, the gradient condition:
409
Plane Potential Flows
369
Plane potential flows simplify fluid motion by assuming the fluid to be irrotational and incompressible. These characteristics allow these flows to be described by a velocity potential function, ϕ, representing the flow speed in a given direction, and a stream function, ψ, that visualizes the flow path, both governed by Laplace's equation. These parameters help in estimating flow patterns, velocity distributions, and pressure fields around various hydraulic structures.
Uniform...
Uniform...
369
Buoyancy and Stability for Submerged and Floating Bodies
1.3K
In fluid mechanics, buoyancy and stability are key concepts for understanding the behavior of submerged and floating bodies. When a stationary body is fully or partially submerged in a fluid, the fluid exerts a force on the body known as the buoyant force. This force acts vertically upward through a point called the center of buoyancy, which is the center of the displaced fluid volume. According to Archimedes' principle, the magnitude of the buoyant force is equal to the weight of the fluid...
1.3K
Steady, Laminar Flow Between Parallel Plates
132
Understanding steady, laminar flow between parallel plates is essential for analyzing and designing flow in narrow rectangular channels, commonly found in various water conveyance and drainage systems. The Navier-Stokes equations govern fluid motion and are generally challenging to solve due to their nonlinearity. However, simplifications are possible in certain cases, like the steady laminar flow between parallel plates. For this scenario, we assume steady, incompressible, laminar flow.
132


