高速,可操纵和适应地形的微机器人,具有树灵感的生物脚
Weizhi Zhao1, Shijia Li1, Kaiwen Zhang1,2
1Research Institute of Aero Engine, Beihang University, Beijing, 100191, China.
Advanced science (Weinheim, Baden-Wurttemberg, Germany)
|November 26, 2025
概括
这项研究引入了带有树灵感的生物脚的微型机器人,显著提高了复杂任务的移动速度和爬能力. 这些微型机器人 (MRBF) 在具有挑战性的环境中提供了增强的性能.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 生物模拟学是一种生物模拟学.
- 微型工程是微型工程.
背景情况:
- 传统的微型机器人在执行复杂任务时,在推进效率和机动性方面存在局限性.
- 在具有挑战性的环境中适应能力对于微型机器人应用,如故障诊断和紧急响应至关重要.
研究的目的:
- 为了提高微型机器人的引和运动性能.
- 开发一个微型机器人,对复杂的环境有更好的适应能力.
主要方法:
- 设计了一个7.5毫米的微型机器人,由电磁线性电机驱动.
- 灵感来自树的生物脚是使用角度光刻法制造的.
- 带有生物脚的微型机器人 (MRBF) 进行了测试,以测试速度,坡道爬和转向能力.
主要成果:
- MRBF实现了39 BL s-1 (干燥) 和28.5 BL s-1 (湿) 的最大速度,分别提高了75%和40%.
- 斜坡爬坡能力增加到21.8°,几乎是原来的两倍.
- 一个双MRBF系统演示了快速转,角度速度为≈311°s-1.1.
结论:
- 生物脚的整合显著提高了微型机器人的运动和适应能力.
- 开发的MRBF系统显示了在狭窄的空间进行现场检查的潜力,例如微型飞机发动机管道.
- 这种方法为航空航天,软机器人和自主传感领域的先进微型机器人应用提供了可扩展的框架.
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