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国家自然科学基金(51105201)

作品数:4 被引量:18H指数:3
相关作者:俞志伟戴振东杨屹巍范甜甜王鹏更多>>
相关机构:南京航空航天大学南京机电液压工程研究中心更多>>
发文基金:国家自然科学基金国家重点基础研究发展计划中国博士后科学基金更多>>
相关领域:自动化与计算机技术生物学轻工技术与工程更多>>

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基于干粘附技术的仿壁虎机器人负表面粘附运动研究
壁虎在任意表面具有卓越的攀爬能力,其稳定爬行所需的粘附力来自于脚底刚毛和接触面间形成的分子间作用力——范德华力。与其他吸附方式相比,干粘附技术有粘附过程简单、无噪声、可重复使用、应用范围广等优点,而现有的基于干粘附技术的...
石叶
关键词:运动控制
Mechanical properties of a novel, lightweight structure inspired by beetle's elytra被引量:3
2014年
A new kind of bio-inspired, lightweight structure was designed and built from carbon fibre prepreg based on the cross-sectional microstructure of a beetle's elytra. The compression strength and failure process of the resulting structure was analysed using the finite element method; while at the same time, a quasi-static compression experiment was performed using an electronic universal testing machine to verify the effectiveness and accuracy of this finite element method. This bio-inspired structure was compared against a conventional honeycomb structure using FEM, revealing that for a given porosity and load parallel to the axis of the core tubes the respective compressive and specific compressive strengths of the bioinspired structure are much higher at 84.3 MPa and194.7 MPa/(g cm-3); thus demonstrating that this bioinspired structure has superior compressive capability.
Ce GuoDong LiZhenyu LuChunsheng ZhuZhendong Da
关键词:甲虫电子万能试验机灵感静态压缩试验
仿生四足机器人嵌入式控制系统设计与实验分析被引量:6
2014年
仿生设计一款小型的单腿具有四自由度的仿生四足机器人,开展机器人运动学正逆解分析。基于ARM Cortex-M3内核的嵌入式芯片建立了机器人控制系统。该控制系统以半双工串口通讯方式向各个关节数字舵机发送步态数据包,控制舵机转动角度值,从而精确地控制四足机器人的稳定协调运动。实验结果表明:机器人在行走过程中机身的横滚角、俯仰角、偏航角(RPY角)变化较小,运动较为平稳,验证了机器人运动学正逆解准确性;以及所设计的嵌入式控制系统能较为精确地控制四足机器人运动,实现稳定的四足行走。该小型的嵌入式控制系统具有运算处理速度快、外设可扩展性和存储能力强的优点,满足仿生四足机器人智能算法、低功耗运动要求。
李锦方王鹏俞志伟戴振东
关键词:ARM嵌入式控制系统
基于STM32F103VET6的四足机器人控制系统设计被引量:9
2012年
分析了四足哺乳动物身体结构及运动方式,设计了一款四足仿生机器人。采用STM32F103VET6为核心的控制芯片构建硬件控制系统,利用芯片的通用定时器产生12路PWM波控制机器人各个关节运动。实验结果表明,四足机器人的12个关节运动平稳,对复杂运动步态的控制精确,实现了在地面的稳定运动。
范甜甜俞志伟杨屹巍戴振东
关键词:四足机器人控制系统
Biomechanism of adhesion in gecko setae
2012年
The study of the adhesion of millions of setae on the toes of geckos has been advanced in recent years with the emergence of new technology and measurement methods. The theory of the mechanism of adhesion by van der Waals forces is now accepted and broadly understood. However, this paper presents limitations of this theory and gives a new hypothesis of the biomechanism of gecko adhesion. The findings are obtained through measurements of the magnitude of the adhesion of setae under three different conditions, to show the close relationship between adhesion and status of the setae. They are reinforced by demonstrating two setal structures, follicle cells and hair, the former making the setae capable of producing bioelectrical charges, which play an important role in attachment and detachment processes. It is shown that the abundant muscular tissues at the base of the setae cells, which are controlled by peripheral nerves, are instrumental in producing the foot movement involved in attachment and detachment. Our study will further uncover the adhesion mechanism of geckos, and provide new ideas for designing and fabricating synthetic setae.
GUO CeSUN JiuRongGE YingBinWANG WenBoWANG DaPengDAI-ZhenDong
关键词:刚毛壁虎范德华力
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