School of Mechanical and Aerospace Engineering, Jilin University, Changchun 130022, China.
Key Laboratory of Bionic Engineering, Ministry of Education, Jilin University, Changchun 130022, China.
Biol Open. 2020 Dec 7;9(12):bio055301. doi: 10.1242/bio.055301.
Spiders use their special hydraulic system to achieve superior locomotor performance and high drive efficiency. To evaluate the variation in hydraulic joint angles and energy conversion during the hydraulic drive of spiders, kinematic data of were collected through a 3D motion capture and synchronization analysis system. Complete stride datasets in the speed range of 0.027 to 0.691 m s were analyzed. Taking the tibia-metatarsu joint as an example, it was found that speed did not affect the angle variation range of the hydraulic joint. Based on the analysis of locomotor mechanics, a bouncing gait was mainly used by during terrestrial locomotion and their locomotor mechanism did not change with increasing speed. Because of the spiders' hydraulic system, the mass-specific power per unit weight required to move the center of mass increased exponentially with increasing speed. The bouncing gait and the hydraulic system contributed to the lower transport cost at low speed, while the hydraulic system greatly increased the transport cost at high speed. The results of this study could provide a reference for the design of high-efficiency driving hydraulic systems of spider-like robots.
蜘蛛利用其特殊的液压系统来实现卓越的运动性能和高驱动效率。为了评估蜘蛛在液压驱动过程中液压关节角度和能量转换的变化，通过三维运动捕捉和同步分析系统收集了的运动学数据。分析了速度范围在 0.027 到 0.691 m/s 的完整步幅数据集。以胫骨-跗骨关节为例，发现速度并不影响液压关节的角度变化范围。基于运动力学的分析，在地面运动中主要采用了弹跳步态，其运动机制并没有随着速度的增加而改变。由于蜘蛛的液压系统，移动质心所需的单位重量的比功率随速度的增加呈指数级增加。弹跳步态和液压系统有助于在低速时降低运输成本，而高速时液压系统大大增加了运输成本。本研究的结果可为仿蜘蛛机器人的高效驱动液压系统设计提供参考。
