适应极高静水压力的软体智能材料与软体机器人

实验表明由软硬融合方式构造机电系统、力电耦合软体智能材料驱动的软体机器人无需耐压外壳即可适应极高静水压力(110 MPa)并实现驱动.      

TMP折纸防护的双稳态软体机器人

软体机器人在复杂非结构化环境探索搜救等方面展现出了良好的应用潜力,但仍存在运动速度较慢、软体结构易受损等问题亟需解决.基于此,提出了一种TMP (Tachi-Miura polyhedron)折纸防护的双稳态软体机器人.软体脊柱、拉簧和TMP折纸外壳组成双稳态系统,由气压驱动突破双稳态系统的两个能量壁垒,实现双稳态之间的切换,并通过快速储存和释放能量驱动软体机器人快速运动. TMP折纸作为软体机器人的外壳,可为其提供防护,预防外界坚硬锋利介质刺破软体脊柱;此外,其在运动过程中的应变能对软体机器人的双稳态能量势阱具有较大贡献.结合材料拉伸实验和商用软件中的本构参数拟合法,确定了软体脊柱材料本构模型参数.探究了软体脊柱弯曲角度与驱动气压之间的量化关系,并提出了基于分段常曲率法的软体机器人运动学建模方法.开展了系列实验测试,发现所提软体机器人通过图钉模拟的极端环境时仍能正常运动,在平地上平均速度达到1.81BL s^-1,其质量-运动速度关系图位于软体机器人和刚性机器人的交叉区域,属于刚-软耦合机器人.此外,证实了所提软体机器人在石子路、泥泞地、浅水沟、浅草地和深水池复杂...     

软体机器人结构机理与驱动材料研究综述

软体机器人是一类新型机器人,具有结构柔软度高,环境适应性好,亲和性强,功能多样等特点,有着十分广阔的研究和应用前景. 智能材料在软体机器人结构设计及实际应用中扮演了重要的角色,其特殊的驱动机制极大拓展了软体机器人的功能. 介绍了软体机器人的发展和研究现状,按其应用场合及功能总结了几种典型的软体机器人. 从仿生机理的角度,介绍了蠕虫、弯曲爬行虫、鱼类游动等几类仿生运动机理以及其相应的软体机器人. 还按不同驱动类型将软体机器人归纳为气动、形状记忆合金、离子交换聚合物金属复合材料、介电高弹体、响应水凝胶、化学燃烧驱动等类型. 介绍了软体机器人的制作方法与工艺,分析了目前软体机器人研究的主要挑战,提出对未来研究的展望.      

浅谈力学专业教育中的建模问题

讨论了在本科力学专业教育中建模教育做得不够的原因,提出加强建模能力培养的意见．     

材料力学教学中加强力学建模能力的探索与实践

针对培养目标调整和学时减少的现实情况,从材料力学课程特点出发,在课堂教学环节的全程训练、力学建模与分析报告的综合训练、力学建模能力的考核评价等3 个方面,对材料力学教学中加强学生力学建模能力培养进行了有益的探索和实践. 结果表明,这些方法提高了学生学习兴趣和教学效果,对提升教学质量具有较高的参考价值.     

软体机器人实践与创新教学

实践教学课程可以帮助学生培养动手与团队协作能力,了解理论知识的实际应用。软体机器人是近年新兴研究领域,蕴含了丰富的力学机理。本文探讨了将其应用于力学教学的选题和组织方法,并介绍了2019年清华大学空天技术科学创新实践营软体机器人项目的实施情况。14位本科生参与项目,成功制作了5个采用不同驱动方法及运动步态的软体机器人。     

软体连续机械臂动力学建模与仿真

由于软体机械臂的质量是沿臂的长度连续分布,因此采用拉格朗日方法建立软体机械臂的动力学模型时,涉及计算复杂的积分运算,采用离散化的集中质量模型降低了计算的复杂性,但准确性不足.为了提高软体机械臂动力学建模与仿真的准确度和计算效率,本文采用模态方法对软体机械臂进行运动学描述,并从能量的角度分析软体机械臂动力学特性,研究发现...     

鳍条效应软体采摘机械手建模与试验

针对现有鳍条效应软体手指建模分析方法难以兼顾高精度与小运算量的问题,本研究以课题组设计的苹果采摘软体机械手为对象,在观察软体手指变形的基础上,提出将鳍条效应软体手指等效为串连铰链四杆机构;运用虚功原理推导了给定变形状态下软体手指各处接触力与驱动力矩计算方法;提出用线弹性扭簧模型描述变形恢复力矩,利用改进的粒子群算法求解各级四杆机构扭簧劲度系数;基于有限元模型,结合二次开发建立了给定关节转角和充气压力下驱动力矩的BP神经网络静态模型。搭建试验平台对3个不同大小的仿真苹果在3个不同高度位置下进行抓取力测量试验。试验结果表明,所建立的力学模型计算抓取力相对误差绝对值小于8.6%,与有限元模型精度相当;驱动力矩测量试验结果表明关节神经网络模型计算值与测量值变化趋势相同,相对误差小于12.7%。     

生物黏附与黏附力学的进展

介绍了动物及昆虫黏附能力及黏附系统的实验研究,重点介绍了力学仿生动物及昆虫的黏附能力及黏附系统的研究工作. 还简单介绍实验室仿生制备及仿生黏附潜在的用途,并对仿生黏附力学新的研究方向提出建议.     

连接结构接触界面非线性力学建模研究

连接界面上存在的跨尺度、多物理场和非线性行为是引起结构复杂非线性动力学的主要原因。由于连接界面力学行为的复杂性,以及对连接界面进行直接试验观测的困难,连接界面的力学建模一直是非常具有挑战性的科学问题。本文首先从分析结合面的跨尺度物理机理入手,将名义的光滑平面视作凹凸不平的粗糙面,考虑单个微凸体的黏滑摩擦行为,建立接触载荷与变形的非线性关系,然后采用GW(Greenwood和Williamson, GW)模型数理统计方法建立整个粗糙界面的跨尺度力学模型,并与公开文献中试验结果进行对比。然后考虑连接界面典型非线性特征,提出一种改进的Iwan唯象模型,利用精细有限元方法获得非线性特征结果,采用系统辨识理论建立连接结构的降阶力学模型,并利用有限元结果进行模型验证。结果表明,本文提出的粗糙界面跨尺度模型在法向载荷较小时与试验结果吻合较好,改进的Iwan模型能够较好描述连接界面非线性特征,并与有限元结果吻合较好。      

Nonlinear dynamic modeling on multi-spherical modular soft robots

A soft robot, which consists of multi-deformable spherical cells, is constructed. According to the deflating action and the inflating action of the spherical cells, the size and the shape of each spherical cell can be changed. Thus, the soft robot can move in a narrow complicated passage. In the paper, a modular soft robot is built. The nonlinear relationship between the inflation radius ( \(R)\) of each cell and the inflation time ( \(t)\) is described to control the action of the spherical cell. The nonlinear dynamic moving process is analyzed with the deflating and inflating modes of each cell. The theoretical analysis of the forward locomotion is counted. Then, two special positions are described, and the moving conditions are presented in details. Last, a simulation and an experiment of three spherical cells are shown to emulate the moving process of the soft robot. It shows that the modular soft robot consisting of multi-deformable spherical modules can move forward with the nonlinear dynamic inflating and deflating process.     

Dynamic modeling,simulation and design of smart membrane systems driven by soft actuators of multilayer dielectric elastomers

Nonlinear Dynamics - A multilayer membrane element of absolute nodal coordinate formulation is proposed for dynamic modeling of multilayer dielectric elastomer actuators (DEAs). The coupled...     

Motion and shape control of soft robots and materials

Nonlinear Dynamics - A continuum-based approach for simultaneously controlling the motion and shape of soft robots and materials (SRM) is proposed. This approach allows for systematically computing...     

磁敏智能软材料及磁流变机理

磁敏智能软材料是一类将微米或纳米尺度的磁性颗粒分散在不同基体中制备而成的多功能复合材料.由于其流变性能在外磁场的调控下可以实现连续、快速、可逆的改变,因此在建筑、振动控制和汽车工业等领域得到了广泛地应用.本文首先介绍了磁敏智能软材料发展历史及分类,分析了不同种类的磁敏智能软材料的特点和存在的科学问题;然后从实验和理论两个方面讨论了磁流变机理的研究现状;最后从实际应用的角度对这类材料未来的发展方向进行了展望.      

On the mechanical modeling of anisotropic biological soft tissue and iterative parallel solution strategies

Biological soft tissues appearing in arterial walls are characterized by a nearly incompressible, anisotropic, hyperelastic material behavior in the physiological range of deformations. For the representation of such materials we apply a polyconvex strain energy function in order to ensure the existence of minimizers and in order to satisfy the Legendre–Hadamard condition automatically. The 3D discretization results in a large system of equations; therefore, a parallel algorithm is applied to solve the equilibrium problem. Domain decomposition methods like the Dual-Primal Finite Element Tearing and Interconnecting (FETI-DP) method are designed to solve large linear systems of equations, that arise from the discretization of partial differential equations, on parallel computers. Their numerical and parallel scalability, as well as their robustness, also in the incompressible limit, has been shown theoretically and in numerical simulations. We are using a dual-primal FETI method to solve nonlinear, anisotropic elasticity problems for 3D models of arterial walls and present some preliminary numerical results.     

Nonlinear analysis on moving process of soft robots

The soft robot consists of several deformable spherical cells. It is a nonlinear system. According to the deflating and inflating action of the spherical cells, the size of each spherical cell can be changed. Thus, the soft robot can move forward. In the paper, the moving process is analyzed in one circular movement with the deflating and inflating modes of each cell. The theoretical analysis of the distance expected is counted. Then the forces on the inflating process are presented in detail, which push the cells to move forward. Lastly, an experiment is shown to emulate the moving process of the soft robot. The theoretical result and the experimental result are compared. It shows that the soft robot that consists of several deformable spherical cells can move forward with the nonlinear inflating and deflating process.     

Analysis on nonlinear turning motion of multi-spherical soft robots

A modular multi-spherical soft robot, which consists of five deformable spherical cells, two friction feet, the electromagnetic valves and the control systems, is constructed. According to the deflating action and the inflating action of the spherical cells, the size and the shape of each spherical cell can be changed. With two friction feet sticking with the ground in turn, the soft robot can move forwards, make a turning motion and avoid the obstacle. This paper creates a nonlinear relation between the pressure P and the inflation radius \(\left( r \right) \) at different original radii \(\left( {r_0 } \right) \) and obtains the inflation or deflation velocity \(v_r \). Six inflating and deflating steps to finish the turning motion are presented. Based on the geometric relationship between the inflation radius (r) and the original radius \((r_0 )\) of each cell, the nonlinear turning process is described to control the center positions (x, y, z) of the spherical cell. Last, a simulation and an experiment of five spherical cells are shown to emulate the turning process. Experiment results show that the robot has a maximum turning capability of \(20{^{\circ }}\) in one period.     

Energy efficiency in friction-based locomotion mechanisms for soft and hard robots: slower can be faster

Many recent designs of soft robots and nano-robots feature locomotion mechanisms that cleverly exploit slipping and sticking phenomena. These mechanisms have many features in common with peristaltic locomotion found in the animal world. The purpose of the present paper is to examine the energy efficiency of a locomotion mechanism that exploits friction. With the help of a model that captures most of the salient features of locomotion, we show how locomotion featuring stick-slip friction is more efficient than a counterpart that only features slipping. Our analysis also provides a framework to establish how optimal locomotion mechanisms can be selected.