RESUMO
This article aims to address the in-orbit assembly needs of truss structures in space missions by designing a robot capable of moving on trusses and manipulating parts. To enhance the stability of the robot during movement and part manipulation, inspiration was drawn from the Dynastes Hercules beetle. Building upon detailed research on the Dynastes Hercules beetle, a biomimetic structure was designed for the robot system. Based on specific task requirements, the overall plan of the robot was developed, and its kinematic and dynamic models were derived. A prototype of the robot was created, which is capable of both movement and assembly functions, including handling spherical and rod-like objects. Through a series of experiments conducted with the robot, the research results demonstrated that the proposed design can effectively achieve the intended functions.
RESUMO
In response to the requirements of large-scale space in-orbit assembly and the special environment of low gravity in space, this paper proposes a small robot structure with the integration of assembly, connection, and vibration reduction functionalities. Each robot consists of a body and three composite mechanical arms-legs, which can dock and transfer assembly units with the transport spacecraft unit, and also crawl along the edge truss of the assembly unit to a designated location to complete in-orbit assembly while ensuring precision. A theoretical model of robot motion was established for simulation studies, and in the research process, the vibration of the assembly unit was studied, and preliminary adjustments were made to address the vibration issue. The results show that this structure is feasible for in-orbit assembly schemes and has good adjustment ability for flexible vibration.
RESUMO
The seahorse relies on the undulatory motion of the dorsal fin to generate thrust, which makes it possess quite high maneuverability and efficiency, and due to its low volume of the dorsal fin, it is conducive to the study of miniaturization of the driving mechanism. This paper carried out a study on the undulatory motion mechanism of the seahorse's dorsal fin and proposed a dynamic model of the interaction between the seahorse's dorsal fin and seawater based on the hydrodynamic properties of seawater and the theory of fluid-structure coupling. A simulation model was established using the Fluent software, and the 3D fluid dynamic mesh was used to study the undulatory motion mechanism of the seahorse's dorsal fin. The effect of the swing frequency, amplitude, and wavelength of the seahorse's dorsal fin on its propulsion performance was studied. On this basis, an optimized design method was used to design a bionic seahorse's dorsal fin undulatory motion mechanism. The paper has important guiding significance for the research and miniaturization of new underwater vehicles.
RESUMO
Designing efficient sensors for soft robotics aiming at human machine interaction remains a challenge. Here, we report a smart soft-robotic gripper system based on triboelectric nanogenerator sensors to capture the continuous motion and tactile information for soft gripper. With the special distributed electrodes, the tactile sensor can perceive the contact position and area of external stimuli. The gear-based length sensor with a stretchable strip allows the continuous detection of elongation via the sequential contact of each tooth. The triboelectric sensory information collected during the operation of soft gripper is further trained by support vector machine algorithm to identify diverse objects with an accuracy of 98.1%. Demonstration of digital twin applications, which show the object identification and duplicate robotic manipulation in virtual environment according to the real-time operation of the soft-robotic gripper system, is successfully created for virtual assembly lines and unmanned warehouse applications.