基于张平度结构的二维仿生脊柱结构中的刚度变化范围的研究
Xiaobo Zhang1, Zhongcai Pei1, Zhiyong Tang1
1School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China.
Biomimetics (Basel, Switzerland)
|February 25, 2025
概括
本研究介绍了脊柱仿生二维度结构 (SBTDTS),这是一个由脊柱结构启发的新型可变硬度机制. 使用粒子集群优化 (PSO) 的优化确定了最大限度地提高硬度比率的配置,以提高性能.
科学领域:
- 机器人与机械工程 机器人与机械工程
- 生物模拟设计的设计
- 十分位结构 十分位结构
背景情况:
- 生物脊柱结构表现出显著的服从性和度适应性.
- 十面性结构具有独特的机械性能,包括合规性和负载分布.
- 变硬机制对于需要适应性的先进机器人应用至关重要.
研究的目的:
- 引入一种新的可变刚性机制,即脊柱生物模拟二维度结构 (SBTDTS).
- 建立一种方法来确定SBTDTS的扭矩刚度.
- 优化SBTDTS以获得最大的刚度比,并将其性能与现有机制进行比较.
主要方法:
- 来自脊柱结构的生物灵感,与T-Bar紧密度设计集成.
- 应用并行机制理论来确定扭曲刚度.
- 使用粒子集群优化 (PSO) 进行参数优化.
- 与旋转并行机制 (RAPRPM) 的比较分析.
主要成果:
- 开发了一种方法来计算SBTDTS在虚拟旋转中心周围的扭曲刚度.
- 分析显示了结构参数和刚度之间的关系.
- PSO成功地确定了最大限度地提高刚度比率 (Kθ_time) 的最佳参数.
- 在不同的条件下,优化的SBTDTS在RAPRPM上表现出明显的优势.
结论:
- SBTDTS是一种新且有效的变硬机制.
- 开发的方法使得精确的刚度的确定和优化.
- 生物灵感设计和优化策略为先进的机器人系统提供了巨大的潜力.
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