仿阿米巴机器人系统设计及其动力学仿真

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1、力bstractThemobilerobothastopassthroughvariousobstaclesinsomespecificenvironmentsuchaspipeinspection，humanmedicalexamination，collapsedspacerescueandSOon．Therefore，thetraditionaldrivenapproacheslikewheeled，leggedorSnake-likerobotareinsufficient．Single-celledamoeba．hasanovelcharacte

2、risticthatitCanwalkbydeformationorskin-flip．amoebacouldextenditsskinbyformingaringwhichhelpsitachievingacontinuousmovement．Thissportsmodeisstrikinglydifferentfromtheconventionaltuberobot．Thus，itprovidesanovelwaytodoresearchonrescuingrobots，medicalrobots，pipelineinspectionrobots．I

3、nthispaper，anintensivestudyofthenovelcharacteristicoftheamoebahasbeenmade．Thekinematicmechanismoftheamoebaflippingskinandbiomechanicalmodelofcytoplasmarediscussed．Combiningsingle—celledamoeba、Scampaignstrategywiththedrivingmethodofpiperobot，weapplythemovementmechanismoftheamoebat

4、othedrivingbodyonthepiperobot，andthendevelopanewtypeofdrivingbodyformobilerobotwhicheffectivelyoffsetstheexistingshortageofmobileteclmology．Then，thebiomimeticmodeloftheamoebaisexploredthroughaintegratedapproachincludingtheoreticalanalysis，computersimulationandexperimentation．Byob

5、servingamoeba’Smovementmechanism，wecarryoutresearchonthetailcontractionmodelandFront—endexpansionmotionmodelanddeterminethetimingdiagramofthemovement’Smorphologicalchanges．Inthisway，thespecificlawofamoeba’SmotioniSrevealed．Athree-dimensionalmodelofanamoebarobotisestablishedthroug

6、hobservingandanalyzingsingle—celledamoeba’Snaturalmovementstructure．TherequiredminimumdrivingforceisexploredintheCOSMOSenviromnentbysimulatingthemodel．Byconductinganalysisoncellbodyfluids’fluiddynamicsandFiniteelementanalysisonskinmaterial，theenergyefficiencyofeachmovement(forwar

7、d，tumanddeformation)，theforcedchangingfeaturesandhydrodynamicsareachieved．Wedesignawirelesscontrolmethodtosuittheapplicationenvironmentofamoebarobot．Toimprovethereliabilityofthecontrolsystem，weusemodularmethodtodesignthecontrolsystem，whichincludesmicroprocessormodule，sensormodule

8、，powermodule，andSOon．WehaveplannedtouseI