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使用弹性纤维作为由周期性照明控制的人工肌肉的生物手臂的理论建模

Changshen Du¹, Shuhong Dai¹, Qinglin Sun¹

¹School of Engineering and Mechanics, Liaoning Technical University, Fuxin 123000, China.

|August 14, 2025

概括

这项研究使用液晶弹性体 (LCE) 作为人工肌肉来模拟生物手臂. 该模型显示由光驱动的可控制振荡,当照明与手臂的自然周期相匹配时发生共振.

科学领域:

软机器人软机器人软机器人软机器人
材料科学材料科学材料科学
机械工程机械工程

背景情况:

液晶弹性体 (LCE) 为软机器人提供了独特的驱动功能.
基于LCE的软机器人的理论研究落后于实验研究.

研究的目的:

为了建立一个动态模型的LCE-激活的生物臂.
在定期照明下研究可控制的振荡机制.

主要方法:

通过使用线性阻尼和角动量定理推导出动力学方程.
开发了 cis 分数的进化方程,并为光激发应变获得了分析解决方案.
数字化解决了动力学方程来分析可控振荡.

主要成果:

生物手臂表现出由光控制的周期性振荡.
稳定的振荡周期取决于照明周期,在匹配时期观察到共振.
分析了各种参数对强制振荡的影响.

结论:

动态模型为基于LCE的软机器人设计提供理论支持.
这些发现适用于微型机器,生物设备和能源收获器.

关键词:

仿生手臂仿生手臂动态模型模型的动态模型强制振荡是强制振荡的情况.轻型燃油汽车的使用情况液晶弹性体是一种液晶弹性体.周期性照明照明系统

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