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轻韧型软体夹持器的仿生设计与研究 被引量:4
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作者 郭钟华 吉成浩 +1 位作者 窦梦宇 王雪 《中国机械工程》 EI CAS CSCD 北大核心 2023年第5期595-602,609,共9页
为了使夹持装置柔软度和承载力兼备,受草本植物茎与花冠结构启发,设计了类似花冠收拢的螺旋式包络和仿植物茎刚度增强方案,每个夹爪呈螺旋状弯曲,通过在夹爪结构内逐个腔室横截面方向嵌入筋板来增大末端输出力,在对变形角度影响较小的... 为了使夹持装置柔软度和承载力兼备,受草本植物茎与花冠结构启发,设计了类似花冠收拢的螺旋式包络和仿植物茎刚度增强方案,每个夹爪呈螺旋状弯曲,通过在夹爪结构内逐个腔室横截面方向嵌入筋板来增大末端输出力,在对变形角度影响较小的条件下有效增大了夹爪末端输出力,并对改善软体执行器的迟滞性有显著效果。制作、组装软体夹爪进行了测试,试验结果表明,轻韧型软体夹持器在自重较轻和收拢尺寸较小的情况下,具备良好展开、包络和承载能力,不仅对轴对称形物体有良好的抓持效果,对于传统夹持器难以夹持的非对称形物体,除花冠式收拢动作外,夹爪还能缠绕物体以增强夹持效果。 展开更多
关键词 软体夹持器 草本植物茎 筋板 轻韧
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Intraclonal Resource Sharing and Functional Specialization of Ramets in Response to Resource Heterogeneity in Three Stoloniferous Herbs 被引量:8
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作者 于飞海 董鸣 张称意 《Acta Botanica Sinica》 CSCD 2002年第4期468-473,共6页
Environments with reciprocal patchiness of resources, in which the availability of two resources such as light and soil nutrients are patchily distributed in horizontal space and negatively correlated in each patch, a... Environments with reciprocal patchiness of resources, in which the availability of two resources such as light and soil nutrients are patchily distributed in horizontal space and negatively correlated in each patch, are common in many ecosystems. The strategies by which clonal plants adapt to this type of heterogeneous environment were examined in three stoloniferous herbs,Potentilla reptans L. var. sericophylla Franch., P. anserina L. and Halerpestes ruthenica (Jacq.) Qvcz., commonly inhabiting forest understories, grasslands and low saline meadows, respectively. As pairs of connected ramets were subjected to reciprocal patchiness of light and nutrients, stolon connection between the two ramets significantly enhanced biomass of both ramet growing in low light intensity but high soil nutrient condition (LH ramet) and ramet growing in high light intensity but low soil nutrient condition (HL ramet) as well as whole ramet pairs (consisting of LH ramets and HL ramets). Additionally, stolon connection greatly increased root/shoot ratio of LH ramet while significantly decreased that of HL ramet. The results indicate that a reciprocal transportation of resources between interconnected ramets and a functional specialization of ramets in uptake of abundant resources occurred. By resource sharing and functional specialization, clonal plants can efficiently acquire locally abundant resources and buffer the stress caused by reciprocal patchiness of resources. 展开更多
关键词 Halerpestes ruthenica Potentilla anserina P. reptans var. sericophylla functional specialization light intensity nutrient content reciprocal patchiness of resources resource sharing
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