一项关于生物灵感四足的水力动力学计算研究
Yihan Wang1, Yumeng Cai1, Bin Xie1
1Shien-Ming Wu School of Intelligent Engineering, South China University of Technology, Guangzhou 510641, China.
Biomimetics (Basel, Switzerland)
|March 26, 2025
概括
这项研究以数值方式研究两机器人的四足步方式,确定了三种推力生成模式和影响游泳表现的关键参数. 最佳的腿部配置增强推力,但可能会增加能源成本和水力动力时刻.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 流体动力学 流体动力学
- 生物力学 生物力学
背景情况:
- 四足运动为探险和救援中的两机器人提供了特殊的机动性.
- 了解水中运动对于提高机器人在各种环境中的性能至关重要.
研究的目的:
- 为了数值地研究四足划船模型的游泳表现.
- 分析腿部参数 (初始摆动角度,摆动幅度,功率阶段持续时间) 对不同步态的推力产生的影响.
主要方法:
- 一个四足划船机器人模型的数值模拟.
- 探究慢跑,对角和侧面顺序的划步态.
- 基于拖动的推力生成模式的分析:"拖动模式"",阻碍模式"和"单独模式".
主要成果:
- 确定了三种不同的基于阻力的推力产生模式,每个模式都有独特的腿部贡献动力.
- 峰值推力是通过特定的腿部配置实现的,独立于初始摆动角度和功率相比.
- 前向倾斜的腿部配置和更平的四肢对齐导致较低的推力产生.
- 斜面和侧面的顺序步态产生比步步态更大的水力动力时刻.
结论:
- 在峰值推力时的腿部配置对于最大限度地提高四足机器人的游泳性能至关重要.
- 较高的推力产生往往与增加的水力动力时刻和能源消耗有关.
- 识别的推力模式为优化两机器人设计和控制策略提供了洞察力.
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