Zarrouk David, Mann Moshe, Degani Nir, Yehuda Tal, Jarbi Nissan, Hess Amotz
Mechanical Engineering Department of Ben Gurion University PO Box 653 Be'er Sheva 8855630, Israel.
Bioinspir Biomim. 2016 Jul 1;11(4):046004. doi: 10.1088/1748-3190/11/4/046004.
In this paper, we present a single actuator wave-like robot, a novel bioinspired robot which can move forward or backward by producing a continuously advancing wave. The robot has a unique minimalistic mechanical design and produces an advancing sine wave, with a large amplitude, using only a single motor but with no internal straight spine. Over horizontal surfaces, the robot does not slide relative to the surface and its direction of locomotion is determined by the direction of rotation of the motor. We developed a kinematic model of the robot that accounts for the two-dimensional mechanics of motion and yields the speed of the links relative to the motor. Based on the optimization of the kinematic model, and accounting for the mechanical constraints, we have designed and built multiple versions of the robot with different sizes and experimentally tested them (see movie). The experimental results were within a few percentages of the expectations. The larger version attained a top speed of 57 cm s(-1) over a horizontal surface and is capable of climbing vertically when placed between two walls. By optimizing the parameters, we succeeded in making the robot travel by 13% faster than its own wave speed.
在本文中，我们展示了一种单驱动波浪式机器人，这是一种新型的受生物启发的机器人，它可以通过产生持续推进的波浪向前或向后移动。该机器人具有独特的简约机械设计，仅使用一个电机就能产生大振幅的前进正弦波，且没有内部直脊柱。在水平表面上，机器人不会相对于表面滑动，其运动方向由电机的旋转方向决定。我们开发了该机器人的运动学模型，该模型考虑了二维运动力学，并得出连杆相对于电机的速度。基于运动学模型的优化，并考虑到机械约束，我们设计并制造了多个不同尺寸的机器人版本，并对它们进行了实验测试（见视频）。实验结果与预期相差几个百分点。较大版本的机器人在水平表面上的最高速度达到了57厘米/秒，并且当放置在两面墙之间时能够垂直攀爬。通过优化参数，我们成功地使机器人的行进速度比其自身的波速快13%。
