CAREER: Development of a Biologically Inspired Morphing Structure

该项目建议以一种新的方式利用静态和运动确定的桁架结构(如麦克斯韦规则所定义)的优越机械性能--创建一种既能提供高效推进又能提供高机动性的三维变形系统。这个想法是利用这些结构的刚度和强度，并使它们能够通过用执行器取代一些被动构件来改变形状。然后，该项目将研究利用这种结构作为低功率仿生驱动系统的基础的可行性，该系统可以实现海豚和螳螂的推进和控制能力。目标是利用这个项目作为产生生物启发的自主水下机器人(AUV)的第一步，能够在人类可能去的地方执行任务。为了实现该项目的目标，首席研究员将整合生物力学、自适应多功能材料和人造肌肉的科学。

This project proposes to utilize the superior mechanical properties of statically and kinematically determinate truss structures (as defined by Maxwell's rule) in a novel way-to create a three-dimensional morphing system that provides both efficient propulsion and high maneuverability. The idea is to take advantage of the stiffness and strength of these structures, and enable them to change shape by replacing some of the passive members with actuators. This project will then study the feasibility of using this structure as the basis of a low powered, biomimetic-actuating system that can achieve the propulsive and control capabilities of the dolphin and manta ray. The goal is to use this project as a first step in generating a bio-inspired autonomous underwater vehicle (AUV), capable of performing tasks where it would be dangerous for humans to go. To achieve the project's goals, the Principle Investigator will integrate the sciences of biomechanics, adaptive multifunctional materials, and artificial muscles.