超快的弹性毛细管风扇控制波纹虫和机器人的敏捷机动
Victor M Ortega-Jimenez1,2,3, Dongjin Kim4, Sunny Kumar3
1Department of Integrative Biology, University of California, Berkeley, CA, USA.
概括
雷戈维利亚虫使用专门的腿扇进行快速,被动的变形,在快速的流中实现敏捷的运动. 这种仿生设计提高了昆虫规模机器人的推力,制动和机动性.
科学领域:
- 流体动力学和生物力学
- 材料科学与工程
- 机器人和微型执行
背景情况:
- 这种虫生活在快速流动的河流中,
- 这些专业的脚风扇具有平面带架构, 对于表面导航至关重要.
- 了解这些风扇的机制是仿生推进系统的关键.
研究的目的:
- 为了研究Raghovelia腿扇的形态功能性质.
- 阐明方向硬度在被动弹性毛细体变形中的作用.
- 为微型机器人设计和测试仿生弹性毛囊风扇.
主要方法:
- 对风扇的平带结构和方向刚性的分析.
- 在移动过程中观察受动性弹性毛囊变形.
- 一个具有集成弹性毛细体风扇的昆虫尺寸机器人的制造.
- 使用昆虫和机器人的比较实验.
主要成果:
- 风扇的设计允许快速,肌肉独立的变形,平衡可折叠性和刚性.
- 这使得高速转 (96°在50ms) 和推进 (120体长/秒).
- 在微型机器人上设计的风扇显示出更好的推力,制动和机动性.
结论:
- 雷戈维利亚腿扇的微观结构促进了可控的界面推进.
- 被动性弹性毛细体变形是一种灵活的水中运动机制.
- 对于紧的弹性毛细体执行器的设计原理可以从这种先进的微机器人生物系统中得出.
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