Biomimetic Soft Wings for Soft Robot Science
Biomimetic Soft Wings for Soft Robot Science
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DOI：
10.20965/jrm.2022.p0223
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发表时间：
2022-04
期刊：
影响因子：
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通讯作者：
Hiroto Tanaka;T. Nakata;Takeshi Yamasaki
中科院分区：
文献类型：
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作者：
Hiroto Tanaka;T. Nakata;Takeshi Yamasaki
自然界中的飞行和游泳可以启发设计能够在复杂环境中工作的高度适应性机器人。在这封信中，我们回顾了我们在空气和水中的机器人推进方面的工作，特别关注驱动机构和扑翼中涉及的弹性组件的关键功能。受鸟类和昆虫的启发，驱动机构中的弹性可以提高扑翼的气动效率，并通过适当的设计增强对干扰的鲁棒性。以蜂鸟为原型，采用薄膜结合锥形翼梁和肋的方法，设计了一种具有刚度分布的扑翼表面。仿生柔性机翼可以产生更多的升力比非锥形机翼具有相同的功率消耗。结合三自由度扑翼运动机理和水动力计算，研究了以企鹅为灵感的水下扑翼推进，结果表明，翅膀弯曲可以提高推进效率。这项工作证明了机翼表面和驱动机构的被动变形对于提高飞行和游泳中的流体动力学效率和鲁棒性的重要性，以及从工程角度提供生物学见解。
Flight and swimming in nature can inspire the design of highly adaptive robots capable of working in complex environments. In this letter, we reviewed our work on robotic propulsion in the air and water, with a specific focus on the crucial functions of elastic components involved in the driving mechanism and flapping wings. Elasticity in the driving mechanism inspired by birds and insects can enhance both the aerodynamic efficiency of flapping wings and robustness against disturbances with appropriate design. A flapping wing surface with a stiffness distribution inspired by hummingbirds was fabricated by combining tapered spars and ribs with a thin film. The biomimetic flexible wing could generate more lift than the nontapered wing with a similar amount of power consumption. Underwater flapping-wing propulsion inspired by penguins was investigated by combining the 3-degree-of-freedom (DoF) flapping mechanism and hydrodynamic calculation, which indicates that wing bending increases the propulsion efficiency. This work demonstrates the importance of passive deformation of both wing surfaces and driving mechanisms for improving the fluid dynamic efficiency and robustness in flight and swimming, as well as providing biological insight from an engineering perspective.