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一个前进的工程,肌肉驱动的软机器人游泳者

William Cartwright Drennan^1,2, Onur Aydin^1,2,3, Bashar Emon^1,2

¹Department of Mechanical Science and Engineering, University of Illinois at Urbana-Champaign, Urbana, IL, USA.

Science advances

|July 16, 2025

概括

研究人员开发了一种新的肌肉驱动生物混合泳者. 这种创新的设计实现了更高的速度,为Reynolds数量的中间水上机器人打开了可能性.

科学领域:

生物混合机器人机器人技术
生物机械工程生物机械工程
软机器人软机器人软机器人

背景情况:

生物混合机器人利用生物元件实现先进的功能.
了解小规模的运动是生物灵感设计的关键.
以前的生物混合泳者在速度和效率方面面临限制.

研究的目的:

设计和制造一种以肌肉为动力的鞭状生物混合泳者.
研究非线性兼容机制与生物肌肉执行器的集成.
通过优化设计和生物成分接近来提高游泳速度和效率.

主要方法:

使用非线性力学制造符合要求的机制.
肌肉环和运动神经元的整合用于执行.
对硬度对肌肉张力和收缩能力的影响的分析.
流场成像用于验证游泳机制并量化速度.

主要成果:

肌肉张力在特定的固度范围内保持稳定 (每微米约为1微纽顿).
靠近运动神经元的肌肉收缩能力提高了四倍.
达到每分钟0.58个身体长度 (86.8微米/秒) 的最高游泳速度,比以前的设计快两倍.
通过流场成像验证了一种惯性驱动的推进机制.

结论:

开发的生物混合泳者实现了其类前所未有的速度.
非线性兼容机制和优化的生物整合是提高性能的关键.
这项工作为新一代中间雷诺德数生物杂交游泳者铺平了道路.

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