Shachaf Dan, Katz Rotem, Zarrouk David
Department of Mechanical Engineering, Ben Gurion University of the Negev, Beersheba 8410501, Israel.
Biomimetics (Basel). 2023 Sep 7;8(5):416. doi: 10.3390/biomimetics8050416.
In a recent study, we developed a minimally actuated robot that utilizes wave-like locomotion and analyzed its kinematics. In this paper, we present an analysis of the robot's locomotion between two highly flexible surfaces. Initially, we created a simulation model of the robot between two surfaces and determined its speed and the conditions of locomotion based on the flexibility of the surface, the geometrical parameters, and the coefficient of friction for horizontal locomotion and climbing at different angles. Our findings indicate that wave locomotion is capable of consistently advancing along the surface, even when the surface is highly flexible. Next, we developed an experimental setup and conducted multiple experiments to validate the accuracy of our simulation. The results indicate an average relative difference of approximately 11% between the speed and advance ratio of the wave crawling between the two surfaces of our simulation model and the experimental results were performed using an actual robot. Lastly, we compared the wave locomotion results to those of the worm locomotion and discovered that wave locomotion outperforms worm locomotion, especially at a higher surface flexibility.
在最近的一项研究中，我们开发了一种采用波状运动的微驱动机器人，并对其运动学进行了分析。在本文中，我们对该机器人在两个高度灵活的表面之间的运动进行了分析。首先，我们创建了机器人在两个表面之间的仿真模型，并根据表面的柔韧性、几何参数以及水平运动和不同角度攀爬时的摩擦系数，确定了其速度和运动条件。我们的研究结果表明，即使表面具有高度柔韧性，波状运动也能够持续沿着表面前进。接下来，我们搭建了一个实验装置并进行了多次实验，以验证我们仿真的准确性。结果表明，我们仿真模型的两个表面之间的波状爬行速度和前进比率与使用实际机器人进行实验得到的结果之间的平均相对差异约为11%。最后，我们将波状运动的结果与蠕虫运动的结果进行了比较，发现波状运动优于蠕虫运动，尤其是在表面柔韧性较高的情况下。
