仿避役弹舌装置的建模和动态分析
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摘要
仿避役弹舌装置是模仿变色蜥蜴舌部伸展能力强和抓取速度快的运动特点的仿生机械装置。根据生物力学和机械设计原理,该装置采用弹性嵌套式机械结构;根据机械动力学理论建立系统的数学模型,再根据机械结构参数设置合理的仿真参数,并利用Solidworks Motion软件对该装置3维模型进行仿真分析,直观实时地表达了该装置工作的动态特性;综合各仿真结果深入分析了仿避役弹舌装置运行的动态特性,从而为仿避役弹舌装置的设计和应用提供了1种理论依据。
The device imitating chameleon tongue is a bionic mechanical device which imitates the kinematic characteristics of the chameleon tongue's ability to stretch considerably and to grab fast. According to the principle of biomechanics and mechanical design,the device adopts elastic nested mechanical structure. Based on the theory of mechanical dynamics the mathematical model is set up,and then the paper setting the reasonable simulation parameter according as the mechanical structure parameter and using Solidworks motion software to simulate the 3d model of the device,the dynamic characteristics of the device are expressed in real time. With comprehensive analysis of the simulation results,the dynamic characteristics of the device are analyzed in detail,which provides a theoretical basis for the design and application of the device imitating chameleon tongue.
The device imitating chameleon tongue is a bionic mechanical device which imitates the kinematic characteristics of the chameleon tongue's ability to stretch considerably and to grab fast. According to the principle of biomechanics and mechanical design,the device adopts elastic nested mechanical structure. Based on the theory of mechanical dynamics the mathematical model is set up,and then the paper setting the reasonable simulation parameter according as the mechanical structure parameter and using Solidworks motion software to simulate the 3d model of the device,the dynamic characteristics of the device are expressed in real time. With comprehensive analysis of the simulation results,the dynamic characteristics of the device are analyzed in detail,which provides a theoretical basis for the design and application of the device imitating chameleon tongue.
引文
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[2]TRIVEDI D,LOTFI A,RAHN C D.Geometrically exact models for soft robotic manipulators[J].Robotics.2008,24(4):773-780.
[3]LASCHI C,MAZZOLAI B.Design of a biomimetic robotic octopus arm[J].Bioinspiration&Biomimetics,2009(4):1-8.
[4]MCMAHAN W,JONES B,et al.Robotic manipulators inspired by cephalopod limbs[C]//Proceedings of the Canadian Engineering Education Association,2011.
[5]LAU C Y,CHAI A.The development of a low cost pneumatic air muscle actuated anthropomorphic robotic hand[J].Procedia Engineering,2012,41:737-742.
[6]王利波,张志军,王领.气动类人仿生机械手设计[J].大连交通学报,2013,34(2):63-66.
[7]邵铁锋.气动柔性象鼻型连续机器人研究[D].杭州:浙江工业大学,2014.
[8]吴善强,黄佩佩,武丽君.形状记忆合金驱动的小型双足爬壁机器人[J].机械设计与研究,2011,27(4):28-30.
[9]杨天夫,阎绍泽,刘夏杰.形状记忆合金弹簧驱动的机械手运动分析[J].清华大学学报,2013,53(10),1441-1447.
[10]李健,熊锋.SMA丝驱动的仿象鼻柔性机械手的研究[J].微特电机,2014,42(9),10-14.
[11]ZHANG K T,QIU C,DAI J S.An extensible continuum robot with integrated origami parallel modules[J].Journal of Mechanisms and Robotics,2016,8(3),031010
[12]ALEXIS D.Manipulators inspired by the tongue of the chameleon[J].Bioinspiration&Biomimetics,2011(6):1-15.
[13]TOMOFUMI H,HIROMI M.Shooting manipulation inspired by chameleon[J].IEEE/ASME Transactions on Mechatronics,2013,18(2):527-535.
[14]DE GROOT J H,VAN LEEUWEN J L.Evidence for an elastic projection mechanism in the chameleon tongue[J].Proceedings of the Biology Sciences,2004,271(1540):761-770.
[15]SNELDERWAARD P CH,DE GROOT J H.Digital video combined with conventional radiography creates an excellent highspeed X-ray video system[J].Biomech,2002,35:1007-1009.
[16]陈超祥,胡其登.Solid Works@Motion运动仿真教程[M].北京:机械工业出版社,2014.