摘要
为探究爬壁虎的仿生功能及其可行性,通过分析计算、程序开发、建模仿真和实验验证等,研制了一种可智能操控的仿生机械壁虎。将连杆、舵机、轮组等应用于壁虎腿足关节构造模拟和功能拓展,在ADAMS/View环境下对其运动步态进行轨迹仿真。利用真空泵、软管、电磁阀及吸盘等搭建气动回路,通过负压通断模拟壁虎在墙面上的吸附停留与攀爬。在步态分析、控制程序编译和Arduino软硬件开发基础上,将远程蓝牙操控、超声波避障、Wifi无线图传等智能元素进行有机融合,实现了仿生机械壁虎的“机、电、气、智”多维度一体化设计。实验测试结果表明,仿生机体性能稳定、反应机敏,具有良好的智能操控特性和实用功能。为仿生机械壁虎的科学研究与实践应用提供了有力参考。
For exploring the bionic function and feasibility of geckos,an intelligent and controllable bionic mechanical gecko is produced through analysis and calculation,program development,modeling and simulation,and experimental verification,etc.The connecting rod,steering engine and wheelset are applied to the leg structural simulation and its functional expansion,and the motion trajectory of the gecko is simulated by ADAMS/View software.The pneumatic circuit is built with a vacuum pump,a rubber hose,a solenoid valve and a sucker,and the adsorption stay and climbing of the gecko on the wall are simulated through negative pressure on-off.On the basis of gait analysis,control program compilation and Arduino development,intelligent elements such as remote Bluetooth control,ultrasonic obstacle avoidance and WIFI wireless image transmission are integrated to realize the multi-dimensional integrated design of"machine,electricity,gas and intelligence"of the bionic mechanical gecko.The experimental results show that the bionic body has not only stable performance and smart response,but also good intelligent control characteristics and practical functions.The paper provides a powerful reference for scientific research and practical application of the bionic mechanical gecko.
作者
邱海飞
张嘉友
李成创
许昊
王超辉
彭永霄
QIU Haifei;ZHANG Jiayou;LI Chengchuang;XU Hao;WANG Chaohui;PENG Yongxiao(School of Mechanical Engineering,Xijing University,Xi'an 710123,China;School of Electronic Information,Xijing University,Xi'an 710123,China)
出处
《机械设计与研究》
CSCD
北大核心
2023年第3期21-26,共6页
Machine Design And Research
基金
陕西省教育厅科研计划资助项目(15JK2177)
西京学院高层次人才专项基金资助项目(NO.XJ20B09)
西京学院横向课题资助项目(2019610002001915)。
关键词
壁虎
负压
轨迹
智能
实验
仿真
步态
ARDUINO
gecko
negative pressure
trajectory
intelligence
experiment
simulation
gait
Arduino
