Dynamic model and performance analysis of landing buffer for bionic locust mechanism

The landing buffer is an important problem in the research on bionic locust jumping robots, and the different modes of landing and buffering can affect the dynamic performance of the buffering process significantly. Based on an experimental observation, the different modes of landing and buffering are determined, which include the different numbers of landing legs and different motion modes of legs in the buffering process. Then a bionic locust mechanism is established, and the springs are used to replace the leg muscles to achieve a buffering effect. To reveal the dynamic performance in the buffering process of the bionic locust mechanism, a dynamic model is established with different modes of landing and buffering. In particular, to analyze the buffering process conveniently, an equivalent vibration dynamic model of the bionic locust mechanism is proposed.Given the support forces of the ground to the leg links, which can be obtained from the dynamic model, the spring forces of the legs and the impact resistance of each leg are the important parameters affecting buffering performance, and evaluation principles for buffering performance are proposed according to the aforementioned parameters. Based on the dynamic model and these evaluation principles, the buffering performances are analyzed and compared in different modes of landing and buffering on a horizontal plane and an inclined plane. The results show that the mechanism with the ends of the legs sliding can obtain a better dynamic performance. This study offers primary theories for buffering dynamics and an evaluation of landing buffer performance,and it establishes a theoretical basis for studies and engineering applications.

面向汽车安全的中国体征50^(th)百分位男性乘员生物力学模型开发及验证

汽车安全领域的智能化和数字化发展都急需能代表真实人体特征的生物力学计算模型。本文以最新中国成年人人体尺寸标准为依据,开发具有自主知识产权的50^(th)百分位中国男性体征汽车乘员生物力学模型(TUST IBMs M50-O)。通过重构3组正面钝性冲击、5组侧面钝性冲击和3组整人滑车尸体及志愿者试验,模拟C-NCAP可变形移动壁障侧面碰撞试验,多角度、全方位验证所开发模型的有效性及应用价值。结果表明:11组重构试验数据均在相应的尸体及志愿者试验通道内,平均差异在10%左右,验证了模型的有效性。TUST IBMs M50-O与WorldSID 50^(th)假人模型在侧面碰撞中的运动趋势相同,但TUST IBMs M50-O模型上肢对胸部的挤压,使得胸椎T4和T12质心合成加速度峰值达到43.5g和47.3g,高于WorldSID 50th模型峰值38.5g和41.2g。同时,TUST IBMs M50-O模型也从应力应变角度评估人体组织层面的损伤风险。综上,TUST IBMs M50-O模型展现了类似真实人体的高生物逼真度,可用于组织层面的损伤机理研究,也可为智能汽车安全防护装置及智能高端装备领域产品研发、汽车虚拟测评提供可靠的计算工具和技术支撑。

四足机器人腾空跳跃的轨迹优化与控制方法

针对四足机器人难以跨越大尺寸障碍物的问题,提出了一种仿生腾空跳跃的轨迹优化控制方法 .首先,对马里努阿犬的越障运动进行测试和仿生学分析,得到腾空跳跃的参考轨迹.其次,根据摩擦锥、轨迹平滑、运动学和动力学等约束条件,基于轨迹优化的方法对仿生参考轨迹进行离线优化,生成四足机器人的期望跳跃轨迹,得到跳跃所需的足端位置、关节力矩和关节角度序列.再次,设计分阶段的跳跃控制器,采用关节和质心PD(Proportional Derivative)的组合控制策略,实现对期望跳跃轨迹的跟踪,采用变刚度虚拟模型控制实现对落地姿态的调整和足底力的缓冲.最后,在Webots仿真环境中完成了1 m高度的自由落地和跳跃0.75 m高度桌子的仿真实验.研究结果表明:仿生轨迹优化与控制算法能够使四足机器人跳跃大尺寸障碍物并且具有平稳落地的效果,对于提高四足机器人的高性能运动能力以及拓展其应用环境具有参考价值.

应用于水陆两栖勘测及紧急救援的仿生机械龟

针对现有水下航行器能耗高、噪声大、续航能力一般等问题,通过探索水下仿生扑翼的推进机理,结合流体力学运动的知识,利用SolidWorks仿造龟的外形设计了仿生机械龟。该机械龟装载浮力与重力感应系统,通过PID算法控制机器在水中的平衡,使用Arduino作为主控制板,利用传感器、摄像系统与数据传输系统,进行实时监测并传输数据,龟壳中设计了贮藏空间,满足勘测和物资救援任务。实验结果表明,所设计的水陆两栖仿生机械龟优化了形态和运行控制系统,对比美国耶鲁大学研制出的仿乌龟形水陆两栖机器人ART,能够适应多样化地形高效的运动,具有高灵活性和机动性,能完成对水中温度、压强、地形进行实时监测并将数据传输回终端。

基于BP神经网络的儿童乘员头部损伤预测模型及评估参数研究

智能座舱与虚拟测评规程的推广,给乘员损伤评价带来新挑战,损伤机理与损伤风险评估参数更加多样化。本文基于图斯特6岁儿童乘员损伤仿生模型与BP神经网络算法构建正面100%重叠刚性壁障工况中乘员坐姿角度与头部损伤指标相关性预测模型,探究不同坐姿下头部损伤风险以及不同评价指标之间的相关性与差异性。结果表明,构建的相关性损伤预测模型具有良好的可信度(R2>0.90),可以用于损伤预测与分析。现有头部损伤评价指标在小角度坐姿范围内(95°~108°)对头损伤评估及预测具有良好的一致性,但是对于大角度坐姿乘员,不同损伤评价指标对头部损伤风险的评估存在显著差异。因此,目前实施的头部损伤评价参数具有局限性,未来虚拟测评中应综合运动学和生物力学参数对头部损伤风险进行更加全面的评估。该研究结果可以为儿童约束系统的改善、虚拟测评以及大角度坐姿乘员头部损伤评价参数的选取提供数据与理论支撑。

摆线齿轮成形磨削机床立柱的多级优化研究

针对摆线轮成形磨床立柱优化过程中的复杂性,提出一种综合拓扑优化、结构仿生、尺寸优化的多级多目标优化设计方法,实现了立柱质量、一阶固有频率、最大应力及变形位移综合目标优化。以应变能最小为目标函数,以体积分数为约束,采用拓扑优化设计方法,确定了复杂载荷下摆线轮成形磨床立柱材料的最佳分布。以王莲叶脉和芭蕉叶柄为仿生目标,采用结构仿生优化设计方法,在立柱内部仿生空间设计仿生筋板,最大限度提升立柱整体性能。采用响应面模型遗传算法对立柱内部复杂结构尺寸进行优化,得到尺寸最优解。结果表明:在受载相同的情况下,优化后的立柱质量减轻18.4%,立柱最大应力减少23.6%,变形位移减少0.6%,一阶固有频率有所提升。

基于模型预测控制的仿生海豚路径跟踪研究

针对水下路径跟踪问题,研究了基于模型预测控制(MPC)的仿生海豚跟踪控制。在误差模型线性化基础上引入MPC,使仿生海豚在满足控制约束的条件下有效地完成路径跟踪,且克服了反步控制算法的速度跳变,超限问题。并建立海流模型,针对有无海流干扰影响情况,进行路径跟踪分析,仿真与实验表明,不同环境下其提出的跟踪算法均有效可行。

仿生机器鱼步态控制及闭环运动控制方法综述

鱼类所具有的推进效率高、机动性强、环境扰动小等优点引发了国内外学者对仿生机器鱼的研究。底层步态控制方法和闭环运动控制方法是当前机器鱼控制研究的两大热点。按照推进模式的分类方法概述各类机器鱼的样机研制情况以及其性能优劣,介绍机器鱼的推进机理及其水动力学研究进展,进而重点探讨轨迹逼近方法和中枢模式发生器这2种底层步态控制思路,综述机器鱼的典型闭环运动控制方法。中枢模式发生器具有更强的灵活性、稳定性和可操作性,易于引入反馈项而实现闭环控制,在机器鱼底层步态控制中占主导地位。针对机器鱼的显著特点改进后的基于学习的控制方法与多种方法相结合后的混合控制方法具有更为广阔的发展前景,符合仿生机器鱼智能化的发展方向。根据工作条件和运动要求建立合理的步态控制系统以及准确高效的闭环运动控制系统可提高机器鱼的整体性能。

蚬子外壳仿生表面减阻结构的设计与分析

受天然生物蚬子在泥沙环境中优异的运动能力的启发,提出了仿生蚬子表面形貌减阻方法,并根据其外壳表面形貌特征的显微图像设计了仿生表面减阻结构,利用CFD数值模拟方法中的多相流Mixture模型对设计的3种仿生表面结构进行横向仿真模拟并与光滑表面结构进行减阻效果对比。结果表明,在不同的两相流流速下,3种仿生表面结构在横向模拟中都具有一定的减阻特性,且以棱纹结节表面结构的减阻性能最佳。

长绒棉棉铃成熟度仿生类脑分类方法研究

快速准确识别长绒棉棉铃成熟的不同阶段,对长绒棉种植的智能化、装备化管理具有重要意义。针对现有方法在长绒棉棉铃成熟度分类辨识易受复杂棉田背景、阴影、强光和叶片遮挡等因素影响识别率低的问题,提出将模拟生物视觉皮层的信息处理机制与HMAX模型融合的类脑分类方法,实现大田环境下棉铃不同成熟度的快速、高效识别。首先,采用相机获取长绒棉不同成熟阶段的图像信息,以花铃期、裂铃期、吐絮期、停止生长期4个生长阶段为对象,构建中小样本的棉铃数据集;其次,模拟视网膜神经节细胞的信息处理机制以提升HMAX模型的检测速度与精度,提出基于改进HMAX模型的类脑识别算法;最后,为探究各模型在非清晰数据集上的表现,采用高斯模糊方法将测试集转换6次,以HMAX、HHMAX、SHMAX作为对比,评估改进HMAX模型性能。试验结果表明,在原始数据集下,改进HMAX模型的总体准确率为95.3%,相比于HMAX、HHMAX、SHMAX模型分别高出15.1、9.2和6个百分点;在错误分类中,由于吐絮期和停止生长期特征相似,造成错误识别的概率最大;在非清晰数据集下,HMAX、HHMAX以及SHMAX退化指数分别为8.21%、7.935%和11.21%,改进HMAX模型总体退化指数为5.92%。研究结果表明:在分类精度、模糊图像输入等方面,改进HMAX模型能够较好地满足实际生产中棉铃不同成熟阶段分类识别的实际需求。

柔性连续体机器人建模与控制综述

柔性连续体机器人是一类受生物仿生结构启发而诞生的新型机器人,该型机器人由弹性材料组成,能够产生连续变形并进行大幅度形变,具有结构柔顺性强、灵活性高等优点。连续体机器人能够弥补传统刚体机器人应对复杂环境能力不足的缺点,因而被广泛应用于工业、灾难搜救、设备检修、航空航天与医疗等领域,成为新一代机器人发展的热点。本文主要整理了近年来关于连续体机器人的研究成果,从连续体机器人研究背景、建模方法、控制方案3个方面进行综述,展开介绍了连续体体机器人结构与设计驱动方式和连续体机器人在实际中的应用;针对连续体机器人的建模方法,从运动学与动力学建模层面进行介绍,分析了连续体机器人的主要控制方案,阐述了连续体机器人在控制设计中需要注意的问题;最后从系统集成化与开放化、智能化人机交互、多模态信息融合等方面对柔性连续体机器人的发展方向进行了展望。

仿生鳄鱼游动推进机制动力学分析

本文建立了鳄鱼水中摆尾游动的动力学模型,并利用Froude游动效率理论给出了鳄鱼推进效率的计算方法。结果表明:鳄鱼游动过程中,稳态平均游速随摆动频率、幅值和波长的增大逐渐增大。其中,增加摆动频率对提高游速的贡献最大,增加摆动波长的贡献最小;推力功率随着摆动频率、幅值和波长的增大逐渐增加,功率损耗也逐渐增加;当鳄鱼摆动频率为0.7 Hz、摆幅为0.2 m、波长为1.2 m时,游动效率达到最大为64%;游动效率随着Re的增大,呈现先增大后减小的趋势,在Re为3×10^(5)时达最大值;游动效率随着St的增大而逐渐趋近于55%的稳定值。研究结果对研制仿鳄鱼机器人具有重要参考价值。

人工肌肉驱动仿生腿运动学建模与仿真研究

人工肌肉驱动仿生腿是一种新型智能假肢,用于补偿下肢截肢者残肢侧的运动功能。对人工肌肉驱动仿生腿进行运动学建模与仿真研究,通过拉格朗日法对仿生腿的支撑相和摆动相建立运动学模型,推导并计算仿生腿运动学及动力学方程,基于MATLAB和Adams软件进行运动学仿真。研究结果证明,所建立的人工肌肉驱动仿生腿模型可以实现假肢的拟人步态。

仿猛禽机器人稳态栖息动力学建模及参数优化

提出了一种在非结构化环境中具备可靠抓握和稳定栖息能力的仿猛禽机器人,求解了具有最小倾覆力矩的腿部最优尺寸,获得了满足倾覆力矩和动量约束的栖息成功参数域,设计了具有强大抓取力并通过自锁保持可靠抓握状态的欠驱动抓握腿爪.上述确保稳定栖息的动力学参数优化设计,以及确保可靠抓握的精巧腿爪结构,为实现仿猛禽栖息机器人在遥感探测、搜救避险、环境监测等非结构化环境中的广泛应用奠定了基础.

仿猛禽无人机稳态栖息建模及抓取腿爪设计

目前,带臂爪无人机对形状复杂物体的抓取、栖息能力仍然有限,针对这一问题提出了一种可与无人机本体集成、在非结构化环境中具备可靠抓握和稳定栖息能力的仿猛禽无人机.在建立仿猛禽无人机的稳态栖息模型时,求解得到了具有最小倾覆力矩的腿部最优尺寸;建立了无人机的角动量和线动量模型,求解获得了满足倾覆力矩和动量约束、由质心速度角-质心速度-腿角3维参数组合生成的栖息成功参数域;设计了可将瞬时碰撞能量被动转化为强大抓握力、通过自锁来被动保持可靠抓握状态的欠驱动抓握腿爪;完成了无人机样机栖息实验,且实验和仿真的参数变化规律一致,变化连续平稳.上述成果证实了该稳态栖息模型、动量模型及无人机结构设计方案的合理性,为后续实现仿猛禽栖息无人机的位姿实时控制,以及无人机在遥感探测、搜救避险、环境监测等非结构化环境中的广泛应用提供了理论和方法指导.

Three-Dimensional Geometrical Modelling of Wild Boar Head by Reverse Engineering Technology

In this paper, a wild boar head was taken as the bionic research object for the development of new ridgers, a kind of plough. The reverse engineering technology was adopted to obtain the surface geometrical information of the head. Several three-dimensional （3D） point clouds of the head were captured first using a non-touch laser scanner, and an integrated point cloud was generated by aligning these point clouds using UG/Imageware. Then, the digital surface model of the head was rebuilt by means of CATIA. The characteristic curves of the surface model were analyzed. The results show that the average error between the rebuilt surface and the point cloud is -0.431 ram. The max curvature of the ridge on the neb of the head is 0.187 mm^-1, and the max and rain Gauss curvatures on the surface are 0.008 mm^-2 and -0.002 mm^-2. These geometrical information are the essential parameters for biomimetics study of the ridger.

Bionic Attitude Transformation Combined with Closed Motion for a Free Floating Space Robot

In order to realize the small error attitude transformation of a free floating space robot,a new method of three degrees of freedom（ DOF） attitude transformation was proposed for the space robot using a bionic joint. A general kinematic model of the space robot was established based on the law of linear and angular momentum conservation. A combinational joint model was established combined with bionic joint and closed motion. The attitude transformation of planar,two DOF and three DOF is analyzed and simulated by the model,and it is verified that the feasibility of attitude transformation in three DOF space. Finally,the specific scheme of disturbance elimination in attitude transformation is presented and simulation results are obtained.Therefore,the range of application field of the bionic joint model has been expanded.

Bionic Optimisation of the Earthquake Resistance of High Buildings by Tuned Mass Dampers

The optimisation of earthquake resistance of high buildings by multi-tuned mass dampers was investigated using bionic algorithms. In bionic or evolutionary optimisation studies the properties of parents are crossed and mutated to produce a new generation with slightly different properties. The kids which best satisfy the object of the study, become the parents of the next generation. After a series of generations essential improvements of the object may be observed. Tuned mass dampers are widely used to reduce the impact of dynamic excitations on structures. A single mass system and multi-mass oscillators help to explain the mechanics of the dampers. To apply the bionic optimisation strategy to high buildings with passive tuned mass dampers subject to seismic loading a special beam element has been developed. In addition to the 6 degrees of freedom of a conventional beam element, it has 2 degrees of freedom for the displacements of the dampers. It allows for fast studies of many variants. As central result, efficient designs for damping systems along the height of an edifice are found. The impact on the structure may be reduced essentially by the use of such dampers designed to interact in an optimal way.

A Mechanical Model for the Adhesion of Spiders to Nominally Flat Surfaces

In dry attachment systems of spiders and geckos, van der Waals forces mediate attraction between substrate and animal tarsus. In particular, the scopula of Evarcha arcuata spiders allows for reversible attachment and easy detachment to a broad range of surfaces. Hence, reproducing the scopula's roughness compatibility while maintaining anti-bunching features and dirt particle repellence behavior is a central task for a biomimetic transfer to an engineered model. In the present work we model the scopula of E. arcuata from a mechano-elastic point of view analyzing the influence of its hierarchical structure on the attachment behavior. By considering biological data of the gecko and spider, and the simulation results, the adhesive capabilities of the two animals are compared and important confirmations and new directives in order to reproduce the overall structure are found. Moreover, a possible suggestion of how the spider detaches in an easy and fast manner is proposed and supported by the results.

A Novel System for Moving Object Detection Using Bionic Compound Eyes

Conventional moving target detection focuses on algorithms to improve detection efficiency. These algorithms pay less attention to the image acquisition means, and usually solve specific problems. This often results in poor flexibility and reus- ability. Insect compound eyes offer unique advantages for moving target detection and these advantages have attracted the attention of many researchers in recent years. In this paper we proposed a new system for moving target detection. We used the detection mechanism of insect compound eyes for the simulation of the characteristics of structure, control, and function. We discussed the design scheme of the system, the development of the bionic control circuit, and introduced the proposed mathe- matical model of bionic cqmpound eyes for data acquisition and object detection. After this the integrated system was described and discussed. Our paper presents a novel approach for moving target detection. This approach effectively tackles some of the well-known problems in the field of view, resolution, and real-time processing problems in moving target detection.