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基于 STM32 开发板控制的仿生鸟跳跃抓取结构设计。

A bionic bird jumping grasping structure design based on stm32 development board control.

机构信息

School of Mechanical Engineering, Shenyang Ligong University, Shenyang, 110159, China.

Liaoning Key Laboratory of Advanced Manufacturing Technology and Equipment, Shenyang, 110159, China.

出版信息

Sci Rep. 2024 May 7;14(1):10435. doi: 10.1038/s41598-024-61285-y.

DOI:10.1038/s41598-024-61285-y
PMID:38714737
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC11636893/
Abstract

During takeoff and landing, birds bounce and grab with their legs and feet. In this paper,the lower limb structure of the bionic bird is designed with reference to the function of jumping and grasping, and the PID algorithm based on the development module of stm32 development board is used to speed control the lower limb driving element, so that the motor and the bishaft steering gear move with the rate change of sine wave. According to the speed of grasping response time and the size of grasping force, the structure of the bionic bird paw is designed. Based on the photosensitive sensor fixed in the geometric center of the foot, the grasping action of the lower limb mechanism is intelligently controlled. Finally, the kinematic verification of the lower limb structure is carried out by ADAMS. Experiments show that the foot structure with four toes and three toes is more conducive to maintaining the stability of the body while realizing the fast grasping function. In addition, it can effectively improve the push-lift ratio of the bionic ornithopter by adjusting the sinusoidal waveform rate of the motor speed.

摘要

在起飞和着陆过程中，鸟类会用腿部和脚部进行弹跳和抓握。本文参考跳跃和抓握的功能设计了仿生鸟的下肢结构，并采用基于 stm32 开发板的开发模块的 PID 算法来控制下肢驱动元件的速度，使电机和双轴转向器随正弦波的变化率移动。根据抓取响应时间的速度和抓取力的大小，设计了仿生鸟爪的结构。基于固定在脚部几何中心的光敏传感器，智能控制下肢机构的抓取动作。最后，通过 ADAMS 对下肢结构进行运动学验证。实验表明，四趾和三趾的足部结构在实现快速抓取功能的同时，更有利于保持身体的稳定性。此外，通过调整电机速度的正弦波速率，可以有效地提高仿生扑翼机的推升比。

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