Dual spring force couples yield multifunctionality and ultrafast, precision rotation in tiny biomechanical systems.
Dual spring force couples yield multifunctionality and ultrafast, precision rotation in tiny biomechanical systems.
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DOI：
10.1242/jeb.244077
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发表时间：
2022-07
期刊：
影响因子：
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通讯作者：
G. Sutton;R. St. Pierre;C. Kuo;A. Summers;S. Bergbreiter;S. Cox;S. Patek
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文献类型：
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作者：
G. Sutton;R. St. Pierre;C. Kuo;A. Summers;S. Bergbreiter;S. Cox;S. Patek
小型生物使用推进弹簧而不是肌肉来重复地驱动高加速度运动，即使在受到微小位移和惯性力限制的情况下也是如此。通过集成大型运动学数据集、弹性后坐力测量、能量数学建模和动态数学建模，我们测试了陷阱颚蚂蚁（Odontomachus brunneus）如何利用多个弹性结构在小尺度上实现超快速和精确的下颌旋转。我们发现，O. brunneus利用两个弹簧的有趣配置在每个下颌骨上产生扭矩：它们的弹性头囊反冲以推动，反冲肌肉-apodeme单元在每个下颌骨上牵引。当采用弹簧推进时，下颌骨实现了精确的平面圆形轨迹，最高可达49,100 rad s-1 （470,000 rpm）。一旦弹簧动力停止，下颌骨就会以不受约束的振荡旋转运动。我们将这种机制称为“双弹簧力偶”，这意味着两个弹簧在两个位置传递能量以产生扭矩。动力学建模表明，双弹簧力偶减少了对关节约束的需求，从而减少了耗散关节损失，这对于重复使用超快，小型系统至关重要。双弹簧力偶实现多功能：陷阱颚蚂蚁使用相同的机械系统，由推进弹簧驱动产生超快的平面撞击，并使用肌肉而不是弹簧产生缓慢的多自由度下颌骨操纵，直接驱动运动。在其他系统中也发现了双弹簧力偶，并且可能在生物学中广泛存在。这些原理可以整合到微型机器人中，以提高超高速系统的多功能性、精度和寿命。
Small organisms use propulsive springs rather than muscles to repeatedly actuate high acceleration movements, even when constrained to tiny displacements and limited by inertial forces. Through integration of a large kinematic dataset, measurements of elastic recoil, energetic math modeling and dynamic math modeling, we tested how trap-jaw ants (Odontomachus brunneus) utilize multiple elastic structures to develop ultrafast and precise mandible rotations at small scales. We found that O. brunneus develops torque on each mandible using an intriguing configuration of two springs: their elastic head capsule recoils to push and the recoiling muscle-apodeme unit tugs on each mandible. Mandibles achieved precise, planar, circular trajectories up to 49,100 rad s-1 (470,000 rpm) when powered by spring propulsion. Once spring propulsion ended, the mandibles moved with unconstrained and oscillatory rotation. We term this mechanism a 'dual spring force couple', meaning that two springs deliver energy at two locations to develop torque. Dynamic modeling revealed that dual spring force couples reduce the need for joint constraints and thereby reduce dissipative joint losses, which is essential to the repeated use of ultrafast, small systems. Dual spring force couples enable multifunctionality: trap-jaw ants use the same mechanical system to produce ultrafast, planar strikes driven by propulsive springs and for generating slow, multi-degrees of freedom mandible manipulations using muscles, rather than springs, to directly actuate the movement. Dual spring force couples are found in other systems and are likely widespread in biology. These principles can be incorporated into microrobotics to improve multifunctionality, precision and longevity of ultrafast systems.