Analysis of worm-like locomotion
Analysis of worm-like locomotion
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DOI：
10.3311/ppme.7047
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发表时间：
2013-09
期刊：
影响因子：
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通讯作者：
Z. Juhász;A. Zelei
中科院分区：
文献类型：
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作者：
Z. Juhász;A. Zelei
大自然是伟大思想的宝库，这些思想大多经过精心设计，工程师可以通过检查、理解和模仿自然的工作原理来直接应用它们。蛇和蠕虫几乎遍布地球的每个地区。他们的成功主要基于简单的身体结构和强大的运动技术。蛇和蠕虫周期性地移动身体，利用与周围环境的相互作用产生推进力并前进。这项工作的目的是通过数值模拟分析特定的蠕虫式运动技术。该蠕虫由多体系统建模，该系统包含通过理想刚性杆相互约束的集总质量。蠕虫身体的周期性运动是通过使用类似人造肌肉的致动器系统来实现的。这些结果和经验可以在未来的工作中得到利用，届时将建造一个类似蠕虫的机器人用于探索和救援目的。
Nature is a storehouse of great ideas, which are mostly so well planned, that engineers can apply them directly via examining, understanding and imitating the natural working principles. Snakes and worms can be found in almost every region of our planet. Their success is mainly based on the simple construction of their body and their robust locomotion technique. Snakes and worms move their body periodically, to generate propulsive force and get forward, using the interaction with the surrounding environment. The aim of this work is the analysis of a particular worm-like locomotion technique through numerical simulations. The worm is modeled by a multibody system containing lumped masses constrained to each other by ideal rigid rods. The periodic motion of the worm body is achieved via the use of an artificial muscle-like actuator system. The results and experiences can be exploited in future work when a worm-like robot will be built for exploration and rescue purposes.