Laser-based bionic manufacturing

Over millions of years of natural evolution,organisms have developed nearly perfect structures and functions.The self-fabrication of organisms serves as a valuable source of inspiration for designing the next-generation of structural materials,and is driving the future paradigm shift of modern materials science and engineering.However,the complex structures and multifunctional integrated optimization of organisms far exceed the capability of artificial design and fabrication technology,and new manufacturing methods are urgently needed to achieve efficient reproduction of biological functions.As one of the most valuable advanced manufacturing technologies of the 21st century,laser processing technology provides an efficient solution to the critical challenges of bionic manufacturing.This review outlines the processing principles,manufacturing strategies,potential applications,challenges,and future development outlook of laser processing in bionic manufacturing domains.Three primary manufacturing strategies for laser-based bionic manufacturing are elucidated:subtractive manufacturing,equivalent manufacturing,and additive manufacturing.The progress and trends in bionic subtractive manufacturing applied to micro/nano structural surfaces,bionic equivalent manufacturing for surface strengthening,and bionic additive manufacturing aiming to achieve bionic spatial structures,are reported.Finally,the key problems faced by laser-based bionic manufacturing,its limitations,and the development trends of its existing technologies are discussed.

Bionic lightweight design of limb leg units for hydraulic quadruped robots by additive manufacturing and topology optimization

Galloping cheetahs,climbing mountain goats,and load hauling horses all show desirable locomotion capability,which motivates the development of quadruped robots.Among various quadruped robots,hydraulically driven quadruped robots show great potential in unstructured environments due to their discrete landing positions and large payloads.As the most critical movement unit of a quadruped robot,the limb leg unit(LLU)directly affects movement speed and reliability,and requires a compact and lightweight design.Inspired by the dexterous skeleton–muscle systems of cheetahs and humans,this paper proposes a highly integrated bionic actuator system for a better dynamic performance of an LLU.We propose that a cylinder barrel with multiple element interfaces and internal smooth channels is realized using metal additive manufacturing,and hybrid lattice structures are introduced into the lightweight design of the piston rod.In addition,additive manufacturing and topology optimization are incorporated to reduce the redundant material of the structural parts of the LLU.The mechanical properties of the actuator system are verified by numerical simulation and experiments,and the power density of the actuators is far greater than that of cheetah muscle.The mass of the optimized LLU is reduced by 24.5%,and the optimized LLU shows better response time performance when given a step signal,and presents a good trajectory tracking ability with the increase in motion frequency.

Proximal Femur Bionic Nail (PFBN): A Panacea for Unstable Intertrochanteric Femur Fracture

With the aging population,intertrochanteric femur fracture in the elderly has become one of the most serious public health issues and a hot topic of research in trauma orthopedics.Due to the limitations of internal fixation techniques and the insufficient mechanical design of nails,the occurrence of complications delays patient recovery after surgical treatment.Design of a proximal femur bionic nail(PFBN)based on Zhang’s N triangle theory provides triangular supporting fixation,which dramatically decreases the occurrence of complications and has been widely used for clinical treatment of unstable intertrochanteric femur fracture worldwide.In this work,we developed an equivalent biomechanical model to analyze improvement in bone remodeling of unstable intertrochanteric femur fracture through PFBN use.The results show that compared with proximal femoral nail antirotation(PFNA)and InterTan,PFBN can dramatically decrease the maximum strain in the proximal femur.Based on Frost’s mechanostat theory,the local mechanical environment in the proximal femur can be regulated into the medium overload region by using a PFBN,which may render the proximal femur in a state of physiological overload,favoring post-operative recovery of intertrochanteric femur fracture in the elderly.This work shows that PFBN may constitute a panacea for unstable intertrochanteric femur fracture and provides insights into improving methods of internal fixation.

Bionic microchannels for step lifting transpiration

Those various cross-sectional vessels in trees transfer water to as high as 100 meters,but the traditional fabrication methods limit the manufacturing of those vessels,resulting in the non-availability of those bionic microchannels.Herein,we fabricate those bionic microchannels with various cross-sections by employing projection micro-stereolithography(PμSL)based 3D printing technique.The circumradius of bionic microchannels(pentagonal,square,triangle,and five-pointed star)can be as small as 100μm with precisely fabricated sharp corners.What's more,those bionic microchannels demonstrate marvelous microfluidic performance with strong precursor effects enabled by their sharp corners.Most significantly,those special properties of our bionic microchannels enable them outstanding step lifting performance to transport water to tens of millimeters,though the water can only be transported to at most 20 mm for a single bionic microchannel.The mimicked transpiration based on the step lifting of water from bionic microchannels is also achieved.Those precisely fabricated,low-cost,various cross-sectional bionic microchannels promise applications as microfluidic chips,long-distance unpowered water transportation,step lifting,mimicked transpiration,and so on.

受电弓仿生导流罩对高速列车横风气动特性影响研究

横风作用下高速列车气动横向力和倾覆力矩显著增加,气动性能显著恶化,列车脱轨、倾覆可能性增大,严重影响列车运行安全。受电弓作为高速列车核心的外突部件,直接受到横风的影响,因此改善受电弓区域的横风气动性能显得尤为重要。以鞘翅目生物形态为原型,构建受电弓仿生导流罩几何外形,并以8车编组高速列车为基准,建立4种不同的计算模型:原始模型(模型Ⅰ)、仅受电弓Ⅰ加装导流罩(模型Ⅱ)、仅受电弓Ⅱ加装导流罩(模型Ⅲ)、受电弓Ⅰ和Ⅱ均加装导流罩(模型Ⅳ)。基于三维稳态SST k-ω双方程湍流模型,分析不同方案下高速列车整车以及受电弓区域的横风气动性能。研究结果表明:安装受电弓导流罩后,气流更为平顺地越过受电弓区域,阻滞效应减小,下游车体顶部和受电弓Ⅱ(升弓)区域的气流速度有所增加,同时造成列车背风侧的流场结构改变。相比原始模型(模型Ⅰ),导流罩模型(模型Ⅱ、Ⅲ和Ⅳ)均可减小列车气动横向力和倾覆力矩,其中模型Ⅱ和模型Ⅲ的横向力分别减少9.65%、4.18%,倾覆力矩分别减少11.47%、4.37%;受电弓Ⅰ与受电弓Ⅱ均被包裹的模型Ⅳ效果最为显著,8车编组列车横向力和倾覆力矩分别减少11.39、16.81%。研究成果可为横风环境下新一代高速列车受电弓区域优化设计提供参考。

Research on the Application of Intelligent Bionic Robot Horse in Juvenile Equestrian Teaching Case Study: Beijing Chaoyang Park Youth Equestrian Center

Research purposes:in this study,the intelligent bionic robotic horse is introduced into the equestrian teaching for teenagers,compared with the traditional teaching mode of using real horses.This research aims to explore the effectiveness of using intelligent bionic robotic horse in equestrian teaching for teenagers,as well as to promote the further development of equestrian teaching for teenagers in China,and to promote the introduction of new technology into the equestrian teaching area in the age of internet.Research methods:the methods used were literature method;mathematical statistics;interviewing the equestrian coaches who participated in the experiment;experimental method.The intelligent bionic robotic horse used in this research is the GETTAEN intelligent bionic robotic horse produced by Joy Game Technology Co.,Ltd.The bionic robotic horse is equipped with Internet technology,and the course is supervised and produced by senior coaches of China Equestrian Team.It also includes multiple operation modes.In this study,40 amateur students in Beijing Chaoyang Park Youth Equestrian Center were selected as the experimental subjects.Students will spend 40 h on studying how to ride a horse.Twenty(20)students in the experimental group,they are accommodated with 20 h of bionic robotic horse courses and 20 h of real horse course;20 students in the control group were taught in the traditional teaching mode with 40 h of real horse courses.Results:(1)in horseback physical fitness test,the average value of the control group was 101.9 s;325.6 s in the experimental group.Independent sample T test p<0.05 has significant difference,the horseback physical performance in experimental group is better than the control group.(2)in horseback physical balance test,the average value of the control group was 3.75,and the average value of the experimental group was 7.1.Independent sample T test p<0.05 has significant difference,the horseback physical balance test results in experimental group have significant difference,and the experimental group is better than the control group.(3)The interview method was used to interview the equestrian coaches who participated in the experiment,coaches think that the bionic robotic horse can speed up the learning progress and has a strong technical consolidation,especially for teaching amateurs;but for the time being,it cannot meet the training and improvement target of the actual horse control ability and the ability to grasp the route,and such experience is not real and good enough for senior students.Conclusion:using real horse and intelligent bionic robotic horse combined,one can improve the teaching effectiveness and promote students’adaptation to horseback and technical mastery.But for the time being,it is only suitable for students with weak foundation or zero foundation.The capability of intelligent bionic robotic horse needs to be strengthened,and technological innovation is needed to adapt to all kinds of students.

茶园仿生往复式开沟松土机设计与试验

丘陵山区茶园土壤板结、石砾较多,使用传统旋转或移动式开沟机会出现打石跳刀、刀具无法入土、开沟不深、作业阻力大的问题。为此,依据人工铲土具有自发性以最低功耗完成最优作业路径的特点,设计仿人工铲土动作的曲柄摇杆式开沟装置,并研制小型茶园往复式开沟松土机。通过分析人工使用铁锹铲土的动作,建立入土、切土、抛土的运动模型,基于Matlab软件分析得到人工铲土时铁锹锹尖运动轨迹的拟合方程,以此方程为基准,建立曲柄连杆机构的目标函数,结合约束条件解出曲柄摇杆机构结构参数,同时对开沟铲进行开沟阻力分析,确定开沟铲的结构参数。建立Recurdyn和EDEM耦合的开沟铲-土壤互作仿真模型,并进行三因素三水平正交试验,对作业和结构参数进行优化,得到最优参数组合:机器前进速度v为0.06 m/s、曲柄转速n为42 r/min、入土倾角φ为80°。田间试验结果表明,茶园往复式开沟松土机作业平均开沟深度为211.5 mm,开沟功率为0.119 kW,沟深稳定性系数为90.9%,相较于传统旋转式开沟机,开沟功率降低6.3%,沟深稳定性系数提高3.1个百分点,整机作业质量满足茶园农艺要求。

可持续理念下藤编家具形态仿生设计研究

目的为进一步提升产品的可持续性应用价值,提出了可持续理念下产品形态仿生设计路径,以藤家具为研究对象,探寻藤编家具的可持续设计创新。方法首先,采用文献研究与田野调查相结合的方法,梳理国内外藤编家具的设计研究现状,总结藤编家具行业的现存问题;其次,利用问卷调研法确定用户需求及仿生对象,借助AHP(层次分析法)决策分析原理选择最佳的仿生设计元素,并应用可持续设计策略对藤编家具进行设计创新;最后,采用LCA(生命周期评价)进行设计方案的可持续性评估,确定了综合水平高的方案。结论通过构建可持续理念下产品形态仿生设计路径,提出产品领域应用的可持续设计策略,并应用于藤编家具设计实践,结合用户调查和专家打分,从元素提取、方案设计和方案评估三个方面验证路径的可行性及有效性,为藤编家具的可持续创新提供新思路。

仿猫类落地姿态的准零刚度隔振器

对设备加装隔振装置是保证其高效工作的重要方法之一.本文从仿生学的角度,根据猫科动物落地时优秀的抗冲击能力,通过观察其落地动作姿态,利用非线性补偿原理,以空气弹簧作为正刚度结构,设计出一种具有非对称刚度特性的高静低动刚度隔振器.以其为研究对象,建立了动力学模型,利用特定的方法对非对称刚度系统进行分析求解,并与数值结果和有限元仿真结果进行对比.结果表明,在较低阻尼以及较高激励幅值下,还会出现倍周期响应甚至混沌响应.同时,通过将本文设计的隔振结构和单一空气弹簧的隔振性能对比,可以得到隔振效果明显优于单一空气弹簧的结论,从而验证了所设计隔振结构的有效性和可行性.

仿生犁铧耐磨性能仿真分析与试验研究

目的解决传统犁铧耐磨性差、使用寿命短等问题。方法以栉孔扇贝壳为仿生原型,对其表面几何特征进行提取,将棱纹几何结构特征应用于犁铧的设计。设计6种不同仿生棱纹方向及3种不同仿生棱纹间距的犁铧试样,建立离散元模型,分析土壤颗粒运动速度场以及犁铧耕作阻力图。结果表面仿生结构设计改变了土壤颗粒的流动方向,减小了土壤堆积量,降低了所需牵引力,从而提高了耐磨性能。不同仿生棱纹方向犁铧试样中,F-1竖棱纹结构试样的平均耕作阻力最小,平均耕作阻力值为1681.73 N;不同仿生棱纹间距犁铧试样中,棱纹间距为5 mm的F-1-1仿生表面接触的土壤颗粒的运动速度分布和趋势最佳。通过田间试验得出,同种仿生棱纹方向结构设计下,棱纹间距为5 mm的F-1-1试样的耐磨性能最佳,相比传统犁铧试样磨损量减少17.25%。结论合理改变表面仿生棱纹方向与间距设计可显著提高犁铧耐磨性,为仿生技术在农业机械方向上的应用提供参考。

柔性表皮与鲨鱼体表粘液耦合作用减阻效果数值模拟

本文采用粘流数值模拟方法,通过Workbench搭建双向流固耦合求解器,对粘液析出的柔性平板减阻效果进行数值模拟研究。结果表明,耦合粘液析出与柔性覆盖层可进一步提升减阻效果。粘液与柔性平板耦合之后,起到了进一步减阻的作用。从减阻效果来说,粘液与柔性平板的减阻技术可行,能在粘液减阻基础上进一步减少16.3%~21.20%。

仿生正形尾鳍结构微通道流动与传热特性数值研究及结构优化

基于鱼类尾鳍在流动过程中的重要作用,仿生设计并建立了正形尾鳍结构微通道物理模型,研究了仿生尾鳍肋间距对微通道综合传热性能的影响,提取了尾鳍结构凹陷长轴相对长度Dt/Wch、决定尾鳍结构最大宽度的bt/Wch以及决定尾鳍结构最大高度的张角αt三个结构参数,数值分析了结构参数对仿生微通道平均摩擦因数、平均Nusselt数、综合性能因子以及热阻和泵功的影响规律;并通过均匀试验分析回归拟合和遗传算法多目标优化得到了正形尾鳍结构参数的最优解。结果表明,综合性能因子随着仿生肋间距的增大而减小,当间距为4 mm时,正形尾鳍结构微通道的综合性能因子变化范围为1.74~1.89,综合传热性能明显优于矩形光滑通道;随着Dt/Wch的增加、bt/Wch的减小或αt的增加,尾鳍结构微通道的综合传热性能提升,其中凹陷长轴相对长度Dt/Wch和高度张角αt影响较大。结构参数为Dt/Wch=0.476、bt/Wch=0.135、αt=146.96°时,微通道性能有较大提升。

计算流体力学方法在仿生机器鱼中的应用研究进展

计算流体力学是研究仿生机器鱼水动力特性的重要数值模拟方法,已在仿生学及海洋学等众多领域得到广泛应用。本文利用CNKI中文数据库及Web of Science核心合集数据库分别检索到201篇中文文献和146篇英文文献,运用Cite Space软件的文献计量学分析方法,对文献类型、期刊分布、发文量趋势、作者、研究机构和高被引文献进行了系统分析,并结合关键词网络知识图谱、关键词聚类图谱,探讨了计算流体力学在仿生机器鱼领域中的应用研究热点。结果表明:仿生机器鱼领域中外文献发文量呈现逐年上升趋势,且仿生类期刊及文献具有较高的影响因子与被引频次;研究学科领域涉及工程学、机器人学、力学与材料科学等多个交叉性学科;该领域内研究热点与重点方向为动力学模型、三维流场仿真、设计与制作。针对现有研究的不足,建议未来研究应深入探讨水生生物集群运动仿真、鱼类侧线感知机制和仿生机器鱼水动力试验,以期促进多学科融合,为仿生机器鱼的发展提供科学参考。

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.

侧喷射流的仿生鱼表面减阻优化研究

为了研究射流孔结构参数对水下射流减阻的影响,以金枪鱼为仿生对象建立仿生鱼模型,通过模拟鲨鱼鳃在仿生鱼模型侧面添加射流孔建立了射流模型.采用数值模拟方法,分析主流场速度及射流孔的形状、高度、位置、高宽比等单因素对仿生鱼表面减阻的影响规律.通过Design-expert软件对射流孔的结构参数进行响应面多目标参数优化,进一步分析了不同射流孔的结构参数在相互作用时对仿生鱼表面减阻的影响,最终确定了在距离鱼首5 mm处添加形状为后三角形,高度为6 mm,高宽比为4的射流孔时能够达到比较理想的减阻效果,此时模型的总阻力为2.51021 N,相应的减阻率为6.49%.本文通过深入分析射流孔结构参数的影响,为水下射流减阻技术提供了重要的理论基础和实验指导,为仿生技术在水下流体力学领域的应用拓展了新的可能性.

用于龙舟训练的仿生柔性触觉传感器

为了提高龙舟比赛运动员的训练效果,开发了可用于身体运动识别及压力监测的仿生纤毛柔性触觉传感器。柔性触觉传感器采用了经典的基底-传感层-封装层式“三明治”结构,柔性硅胶基底采用旋涂法制备,传感层为利用Langmuir⁃Blodgett方法得到的大面积碳纳米管传感薄膜,纤毛栽种于传感层,最后封装得到具有仿生纤毛的触觉传感器。由传感器的SEM照片可知,层与层之间的结合特性较好,采用自制的往复测试平台,对传感器进行了测试。传感器耐用性最高可达5500次,最大阻值差可达300%,对于不同方向力的刺激有识别特性,可清晰识别人体的脉搏信号,对未来龙舟训练智能装备开发中的动作识别、力量监测等功能具有较大现实意义。

机器人灵巧手研究综述

机器人灵巧手可以模仿人类动作,完成复杂场景下的多种任务。机器人灵巧手的研究是开发智能人形机器人的关键技术之一。以机器人灵巧手的研究历程为核心,阐述了多指灵巧手的研究现状,分析了灵巧手的演化过程和研究进展。从自由度数目、驱动方式、机械传动方式和传感技术等方面探讨了灵巧手分类和特征,展望了灵巧手未来的发展趋势。

仿生六足折纸机器人结构设计与运动分析

针对现有折纸机器人组成结构单一,运动不够灵活的问题,将折纸结构与多足机器人设计相结合,耦合三浦折纸和六折痕折纸,提出新型的仿螃蟹六足折纸机器人设计方案,扩展了折纸机器人的运动构型,提升了折纸机器人的运动灵活性.在面对称假设下,该机器人单足具有2个自由度,此时将机器人腿部顶点等效为关节,轴线折痕等效为连杆,建立机器人腿部的平面连杆等效模型,并以折面夹角为运动变量,通过仿真计算得出机器人足端的理论运动范围.利用楔形面板技术对折面增厚并避免相邻折面发生物理干涉,建模得到折纸仿螃蟹六足机器人的三维模型.基于平面连杆的等效模型,分析折面夹角与足端运动之间的联系,设计确定机器人的足端运动轨迹与运动步态.利用3D打印技术设计并制作折纸仿生六足机器人试验样机,基于STM32单片机控制实现了机器人三横向角步态运动.结果表明,该折纸仿生机器人可以实现平面构型到仿螃蟹构型的转换,在6条腿的协同运动下,机器人可以平稳地左右横向移动.

刚性扑动仿生蝠鲼鱼的设计

蝠鲼鱼通过胸鳍摆动,在低速条件下具有良好的操纵性和稳定性。对蝠鲼鱼胸鳍刚性摆动时的水动力学性能进行仿真分析,得到蝠鲼鱼胸鳍刚性扑动最佳参数,同时得到最大推进因数。在此基础上,对刚性扑动仿生蝠鲼鱼的结构和控制系统进行设计,并进行样机研制。通过仿真与样机试验对比,验证刚性扑动仿生蝠鲼鱼设计的合理性,运行效果良好。

仿枪虾虾螯纵向混合负泊松比结构设计与耐撞性研究

为提高汽车安全防护结构耐撞性,以枪虾虾螯(大螯)作为仿生原型,通过生物实验提取虾螯微观结构,设计了24种仿生混合负泊松比吸能结构。以质量比吸能(SEA)、结构平均压溃效率(CFE)、初始峰值载荷(IPF)作为评价结构耐撞性的主要指标,借助经过验证的有限元模型对设计结构仿真模拟,经过结果数据分析确定影响结构耐撞性指标的关键参数a(胞元内凹深度),结合实际工况利用加权组合综合评价方法选出最优耐撞性结构。结果显示,当a=6.80 mm时的BCDA型混合结构耐撞性能最优,优化后SEA=3.21 kJ/kg,IPF=8.58 kN,CFE=31.29%。与单一胞元结构相比,优化后混合模型IPF最高降低35.24%,SEA最高提升35.72%,CFE有所下降,最多降低47.20%。