Tang Di, Huang Xipeng, Che Jinqi, Jin Weijie, Cui Yahui, Chen Yangjun, Yuan Yuxiao, Fan Zhongyong, Lu Weiwei, Wang Siyu, Yang Yin, Liu Dawei
College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou 310014, China.
Affiliated HangZhou XiXi hospital, Zhejiang University School of Medicine, Hangzhou 310023, China.
Fundam Res. 2022 Apr 29;4(2):344-352. doi: 10.1016/j.fmre.2022.03.023. eCollection 2024 Mar.
Raptors can change the shape and area of their wings to an exceptional degree in a fast and efficient manner, surpassing other birds, insects, or bats. Some researchers have focused on the functional properties of muscle skeletons, mechanics, and flapping robot design. However, the wing motion of the birds of prey has not been measured quantitatively, and synthetic bionic wings with morphing abilities similar to raptors are far from reality. Therefore, in the current study, a 3D suspension system for holding bird carcasses was designed and fabricated to fasten the wings of with a series of morphing postures. Subsequently, the wing skeleton of the falcon was scanned during extending motions using the computed tomography (CT) approach to obtain three consecutive poses. Subsequently, the skeleton was reconstructed to identify the contribution of the forelimb bones to the extending/folding motions. Inspired by these findings, we propose a simple mechanical model with four bones to form a wing-morphing mechanism using the proposed pose optimisation method. Finally, a bionic wing mechanism was implemented to imitate the motion of the falcon wing-divided into inner and outer wings with folding and twisting motions. The results show that the proposed four-bar mechanism can track bone motion paths with high fidelity.
猛禽能够以快速高效的方式极大程度地改变其翅膀的形状和面积，这超过了其他鸟类、昆虫或蝙蝠。一些研究人员专注于肌肉骨骼的功能特性、力学原理以及扑翼机器人的设计。然而，猛禽的翅膀运动尚未得到定量测量，并且具有与猛禽类似变形能力的合成仿生翅膀也远未实现。因此，在当前的研究中，设计并制造了一种用于固定鸟尸的三维悬挂系统，以固定具有一系列变形姿态的翅膀。随后，使用计算机断层扫描（CT）方法在伸展运动过程中对猎鹰的翅膀骨骼进行扫描，以获取三个连续的姿态。随后，对骨骼进行重建，以确定前肢骨骼在伸展/折叠运动中的作用。受这些发现的启发，我们提出了一个简单的机械模型，该模型由四块骨头组成，利用所提出的姿态优化方法形成一种翅膀变形机制。最后，实现了一种仿生翅膀机制，以模仿猎鹰翅膀的运动——翅膀分为内翼和外翼，具有折叠和扭转运动。结果表明，所提出的四杆机构能够以高保真度跟踪骨骼运动路径。
