CAREER: Dynamics of Extreme Locomotion in Biological and Bioinspired Systems: The Effect of Elasticity on Mobility and Mechanical Power Flow

职业：生物和仿生系统中极限运动的动力学：弹性对移动性和机械功率流的影响

• 批准号: 2048092
• 负责人: Aimy Wissa
• 金额: $ 61.43万
• 依托单位: University of Illinois at Urbana-Champaign
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2021
• 资助国家: 美国
• 起止时间: 2021-05-01 至 2022-03-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=2048092&HistoricalAwards=false
• 关键词: CAREER; Dynamics; Extreme; Locomotion; Biological

Animals such as cheetahs are often thought of as the exemplars of fast movement, when in fact small animals such as arthropods like trap-jaw ants, click beetles, and mantis shrimps can achieve accelerations six orders of magnitudes more than a cheetah. The overall goal of this Faculty Early Career Development (CAREER) grant is to develop analytical and experimental tools to evaluate the dynamics of organisms capable of extreme accelerations and applying these principles towards designing a jumping micro-scale robot, using click beetles as a case study organism. Click beetles belong to a group of organisms that use latches and springs to amplify their muscle power output and circumvent the same actuation limitations that currently cripple micro-robots. The current state of the art in modeling such organisms lack the proper dynamic considerations that would allow engineers to implement the appropriate principles to engineered systems. The techniques developed in this project are beneficial to both biology and engineering. The modeling approach creates a framework to analyze a diverse group of organisms that use springs and latches to move extremely fast. These bioinspired principles enable a design framework for micro-robots to direct power towards the robot’s components for locomotion and dissipate energy elsewhere to prevent mechanical failure. The bioinspired nature of this research makes it an excellent candidate for outreach. Outreach activities include workshops and summer camps for first-generation undergraduates and low income and unrepresented high and middle school students to encourage them to pursue higher education, especially in STEM-related fields. This work will advance the fundamental knowledge of the dynamics of ultra-fast locomotion in biology and bio-inspired systems. Most of the literature studying these locomotion strategies in biological systems focus on observing the kinematics only or use overly simplified models for the dynamics. The modeling approach, namely mobility power flow provides insights into how an organism uses and augments muscle power output and how it transmits and dissipates this power for agile locomotion while mitigating damage. In the planned modeling approach, click beetles or micro-robots are represented as a global structure composed of substructures on elastic and rigid substrates to model various environments. Expressions for power transmission and dissipation through each substructure and at the junctions will be studied through mechanical mobility functions, which can be derived analytically or measured directly in experiments. The models and experimentation techniques will create a new pathway to study and design ultra-fast and small dynamic systems.This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.

像猎豹这样的动物通常被认为是快速运动的典范，而事实上，像陷阱颚蚂蚁、点击甲虫和螳螂虾这样的节肢动物可以实现比猎豹高出六个数量级的加速度。该学院早期职业发展（CAREER）补助金的总体目标是开发分析和实验工具，以评估能够极端加速的生物体的动力学，并将这些原理应用于设计跳跃的微型机器人，使用点击甲虫作为案例研究生物体。点击甲虫属于一组使用闩锁和弹簧来放大肌肉力量输出的生物体，并规避目前削弱微型机器人的相同驱动限制。目前的技术水平在模拟这样的生物体缺乏适当的动态考虑，将允许工程师实施适当的原则，工程系统。该项目开发的技术对生物学和工程学都有好处。建模方法创建了一个框架来分析使用弹簧和闩锁以极快速度移动的各种生物。这些受生物启发的原理使微型机器人的设计框架能够将动力引导到机器人的运动部件上，并将能量耗散在其他地方以防止机械故障。这项研究的生物启发性质使其成为推广的绝佳候选者。外联活动包括为第一代本科生、低收入和无人任职的高中生和中学生举办讲习班和夏令营，以鼓励他们接受高等教育，特别是科学、技术、工程和数学相关领域的教育。这项工作将推进生物学和生物启发系统中超快运动动力学的基础知识。大多数研究生物系统中这些运动策略的文献只关注于观察运动学或使用过于简化的动力学模型。建模方法，即移动功率流，提供了对生物体如何使用和增加肌肉功率输出以及如何传输和耗散这种功率以实现敏捷运动同时减轻损伤的见解。在规划建模方法中，点击甲虫或微型机器人表示为一个全球性的结构组成的弹性和刚性基板上的子结构，以模拟各种环境。通过每个子结构和在交界处的功率传输和耗散的表达式将通过机械迁移率函数，这可以推导出分析或直接在实验中测量进行研究。该模型和实验技术将为研究和设计超快速和小型动态系统开辟一条新的途径。该奖项反映了NSF的法定使命，并通过使用基金会的知识价值和更广泛的影响审查标准进行评估，被认为值得支持。