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Buoyancy and Stability for Submerged and Floating Bodies01:11

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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...
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相关实验视频

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Cardiac Muscle-cell Based Actuator and Self-stabilizing Biorobot - PART 1
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生物气动气动驱动执行器用于水下传感和运动控制.

Jiahao Zhang1, Yonghui Zhang1, Yuheng Li1

  • 1State Key Laboratory of High-performance Precision Manufacturing, Dalian University of Technology, Dalian 116024, P. R. China.

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|July 15, 2025
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概括

研究人员开发了一种模仿水生生物的柔软,自我感应的执行器,用于水下机器人. 这种仿生膜可以实现精确的运动控制和环境反,促进海洋探索和操纵.

关键词:
导电性弹性薄膜是一种导电性弹性薄膜.感知 感知 感知 感知气动执行器的气动执行器自觉感应是一种自我感应.

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科学领域:

  • 仿生学和软机器人技术
  • 材料科学 材料科学 材料科学
  • 海洋工程 海洋工程

背景情况:

  • 生物系统为智能生物系统提供先进的模型,特别是用于水下探索的水中运动.
  • 目前的水下技术面临的局限性是由于集中控制,反应缓慢和环境感知差.
  • 软机器人需要新的材料,以在水生环境中进行敏感的感知,执行和自主控制.

研究的目的:

  • 为软机器人执行器开发一种仿生超弹性导电薄膜.
  • 模仿游泳膀的浮力调节和机械感知功能.
  • 创建一个具有增强水下操作智能和功能多功能性的自传感执行器.

主要方法:

  • 通过将碳纳米管 (CNT) 封装在化天然乳 (VNL) 基质中,制造超弹性导电薄膜.
  • 用于精确的运动检测,对薄膜的变形忠实度和应变响应导电性的表征.
  • 实现压力控制的垂直运动,使用实时环境反进行自主轨道校正.
  • 基于法拉第电磁感应定律的运动跟踪系统的开发,用于通过电压信号检测执行器位移.

主要成果:

  • 仿生膜表现出异常的变形保真性,在各种环境中准确地检测出高角度分辨率的手指关节曲.
  • 通过自主轨迹校正,在水下实现了高精度,压力控制的垂直运动.
  • 一个运动跟踪系统通过量化诱导的电压信号,有效地检测到执行器的位移.
  • 综合系统展示了软机器人的增强的操作智能和功能多功能性.

结论:

  • 开发的仿生膜作为软自传感执行器,模仿生物浮力和感官功能.
  • 这项技术显著提高了软机器人在海洋应用中的感知,控制和适应性.
  • 这些发现为生态监测和适应性水下操纵系统开辟了新的可能性.