Passive mechanical properties of legs from running insects
Passive mechanical properties of legs from running insects
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DOI：
10.1242/jeb.02146
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发表时间：
2006-04-15
影响因子：
2.8
通讯作者：
Full, RJ
中科院分区：
文献类型：
--
作者：
Dudek, DM;Full, RJ
虽然运行节肢动物的动力学已被建模为弹簧质量系统，但没有发现这样的结构，在弹跳过程中存储和返回能量。蟑螂Blaberus discoidalis的后腿是一个很好的候选人被动，垂直腿弹簧，因为其垂直定向的关节轴的旋转限制的可能性，主动运动和肌肉特性的贡献。我们振动被动腿，同时测量力，以确定腿的动态，机械性能。个体蟑螂腿的相对无因次刚度等于估计的一条腿的一只蟑螂或四足动物。腿的弹性范围从60%到75%，提供了腿可以作为弹簧来存储和返回提升和加速质心所需的机械能的可能性。由于滞后是独立的振荡频率，我们拒绝使用Voigt模型-一个简单的弹簧与粘滞阻尼器并联。滞后阻尼模型只使用两个参数在很宽的频率和位移范围内拟合蟑螂腿力-位移数据。我们假设腿必须管理能量的储存和吸收，而不是简单地充当弹簧来最大限度地减少能量，以使快速跑步最有效。
While the dynamics of running arthropods have been modeled as a spring-mass system, no such structures have been discovered that store and return energy during bouncing. The hindleg of the cockroach Blaberus discoidalis is a good candidate for a passive, vertical leg spring because its vertically oriented joint axes of rotation limit the possibility of active movements and contributions of muscle properties. We oscillated passive legs while measuring force to determine the leg's dynamic, mechanical properties. The relative dimensionless stiffness of an individual cockroach leg was equal to that estimated for a single leg of a biped or quadruped. Leg resilience ranged from 60 to 75%, affording the possibility that the leg could function as a spring to store and return the mechanical energy required to lift and accelerate the center of mass. Because hysteresis was independent of oscillation frequency, we rejected the use of a Voigt model-a simple spring in parallel with a viscous damper. A hysteretic damping model fit the cockroach leg force-displacement data over a wide range of frequencies and displacement using just two parameters. Rather than simply acting as a spring to minimize energy, we hypothesize that legs must manage both energy storage and absorption for rapid running to be most effective.