This paper proposed a novel humanoid robot eye, which is driven by six Pneumatic Artificial Muscles （PAMs） and rotates with 3 Degree of Freedom （DOF）. The design of the mechanism and motion type of the robot eye a...
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This paper proposed a novel humanoid robot eye, which is driven by six Pneumatic Artificial Muscles （PAMs） and rotates with 3 Degree of Freedom （DOF）. The design of the mechanism and motion type of the robot eye are inspired by that of human eyes. The model of humanoid robot eye is established as a parallel mechanism, and the inverse-kinematic problem of this flexible tendons driving parallel system is solved by the analytical geometry method. As an extension, the simulation result for saccadic movement is presented under three conditions. The design and kinematic analysis of the prototype could be a sig- nificant step towards the goal of building an autonomous humanoid robot eye with the movement and especially the visual functions similar to that of human.
The epidermal adhesive structure of many animals generates reliable adhesion on their engaged surfaces. However, current bio-inspired adhesion structures are difficult to function well in dry and underwater environmen...
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The epidermal adhesive structure of many animals generates reliable adhesion on their engaged surfaces. However, current bio-inspired adhesion structures are difficult to function well in dry and underwater environments simultaneously. Interestingly, the male Dytiscus lapponicus attaches firmly to the rough shell of the female D. lapponicus in both dry and underwater conditions owing to the adhesive setae of its forelegs, and to the best of our knowledge, designing adhesive structures on multienvironments has never been reported. Here, a D. lapponicus-inspired adhesion structure (DIAS) is proposed and fabricated using double-exposure-fill molding technology accompanied with the material curing shrinkage, in which different structural features could be achieved by varying curing shrinkage ratios, elastic moduli, and back exposure time. The DIAS offered high, reversible, and repeatable strength in dry and underwater conditions with values of 205 and 133 kPa, respectively. By comparing the adhesion properties of different shapes via testing experiments and numerical analysis, a structural feature with an inclination of 15 degrees was found to be optimal. Finally, the potential application of the DIAS in flexible electronic smart skin-attachable devices was demonstrated on a pig skin, paving the way for further bio-inspired adhesive designs for both dry and wet scenarios.
bionic robots, which aim to mimic the morphologies and functions of real living creatures, play an increasingly important role in military affairs, medical healthcare, industrial production, and so on. As a crucial pa...
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ISBN:
(纸本)9798350307542;9798350307535
bionic robots, which aim to mimic the morphologies and functions of real living creatures, play an increasingly important role in military affairs, medical healthcare, industrial production, and so on. As a crucial part of the robots, actuators determine their overall performance to a certain extent. However, it is challenging to replicate the actuation behavior of real organisms using traditional electromechanical actuation systems (like motors) with flexible material actuation (like shape memory alloys). Potential solutions include biomuscular actuators assembled from living cells and biomaterials. As a result, this work created a biohybrid muscle actuator with primary cardiomyocytes and bioactive materials (Matrigel, fibrinogen, and so on). The muscle actuators started to produce spontaneous systolic-diastolic movements after a few days and could survive for at least five days. This study provides a reference for other researchers working on fabricating biohybrid muscle actuators.
The size and weight of an actuator tend to increase with actuator power because the actuator power-to-mass ratio is near constant for a given type of motor. Rapid motion such as jumping or running is difficult to real...
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The size and weight of an actuator tend to increase with actuator power because the actuator power-to-mass ratio is near constant for a given type of motor. Rapid motion such as jumping or running is difficult to realize by using simple actuator power. The aim of this research is to develop a high power joint mechanism that mimics the leg mechanism of a locust. The characteristics of the joint mechanism are evaluated using vector and dynamic analysis. The proposed high power joint mechanism consists of a closed link structure comprising four links and a spring. Linear actuators are attached to the top and bottom links, and the joint angle changes by controlling the lengths of the top and bottom links. A spring is located between two of the links, and is contracted using two linear actuators to provide stored force, which can be released instantaneously to produce a higher power response than that available directly from both actuators. The analysis demonstrates how the joint mechanism produces an output with a higher power than the rated input actuator power. The output characteristics of the joint mechanism depend on link length and link conditions.
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