吉林大学学报(工学版) ›› 2020, Vol. 50 ›› Issue (1): 375-381.doi: 10.13229/j.cnki.jdxbgxb20180545

• 农业工程·仿生工程 • 上一篇    

蜘蛛生物液压驱动原理及其功能仿生探索

刘春宝1,2(),陈山石1,盛闯1,2,钱志辉2,任露泉2,任雷2,3()   

  1. 1. 吉林大学 机械与航空航天工程学院，长春 130022
    2. 吉林大学 工程仿生教育部重点实验室, 长春 130022
    3. 曼彻斯特大学 机械工程学院，曼彻斯特M13 9PL 英国
  • 收稿日期:2018-06-11 出版日期:2020-01-01 发布日期:2020-02-06
  • 通讯作者: 任雷 E-mail:liuchunbao@jlu.edu.cn;lei.ren@manchester.ac.uk
  • 作者简介:刘春宝（1979-），男，教授，博士生导师. 研究方向：流体传动与控制.E-mail: liuchunbao@jlu.edu.cn
  • 基金资助:
    国家自然科学基金项目(51675219);装备预研教育部联合基金项目(6141A02022614)

Bionic hydraulic driving mechanism of spider and its bio⁃inspiration

Chun-bao LIU1,2(),Shan-shi CHEN1,Chuang SHENG1,2,Zhi-hui QIAN2,Lu-quan REN2,Lei REN2,3()   

  1. 1. College of Mechanical and Aerospace Engineering, Jilin University, Changchun 130022, China
    2. Key Laboratory of Bionic Engineering, Ministry of Education, Jilin University, Changchun 130022, China
    3. School of Mechanical, Aerospace and Civil Engineering, University of Manchester, Manchester M13 9PL, UK
  • Received:2018-06-11 Online:2020-01-01 Published:2020-02-06
  • Contact: Lei REN E-mail:liuchunbao@jlu.edu.cn;lei.ren@manchester.ac.uk

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摘要：

针对蜘蛛生物液压驱动原理的研究进行了综述，对蜘蛛步足液压原理进行了分析，尝试建立生物液压与工程液压难题的联系。首先，以海南捕鱼蜘蛛作为研究对象，通过电镜扫描、组织切片、Micro-CT等多种观测扫描实验得到其内流道模型，并基于该模型使用CFD软件对流动机理进行了研究。然后，根据CFD后处理得到的血淋巴流动轨迹，设计了一种仿生液压系统，为工程液压系统的设计提供一种新的思路。最后，针对蜘蛛步足的液压系统进行了功能仿生探索，设计了一种仿蜘蛛一体化双向运动关节，解决了现有仿蜘蛛关节不能实现驱动一体化、驱动精度得不到保证的问题，并高度再现了蜘蛛的生物驱动过程。

关键词: 工程仿生学, 蜘蛛, 液压传动, 功能仿生, 仿生机械

Abstract:

The mechanism that how hydraulic pressure is generated in the spider body and then transferred to the leg was thoroughly reviewed. The hydraulic system in the spider leg is investigated and the relationship between biological hydraulic and engineering hydraulic problems is tentatively established. Hainan fishing spider is taken as the research object, and its inner channel model is obtained by electron microscope scanning, tissue section, Micro-CT and other observation and scanning experiments. Based on this model, the flow mechanism is studied by using CFD software. According to the hemolymph flow trajectory obtained from CFD post-processing, a bionic hydraulic system is designed. The functional bionic exploration of spider walking hydraulic system is carried out, and a kind of integrated two-way motion joint of spider is designed, which solves the problems that the existing spider-like joint cannot realize the integration of drive and the driving accuracy cannot be guaranteed. It highly reproduces the biological driving process of spiders. This study may provide a new idea for the design of engineering hydraulic system.

Key words: engineering bionics, spider, hydraulic transmission, functional bionics, bionic machinery

中图分类号: 

  • TB17

图1

蜘蛛液压传动原理"

图2

蜘蛛步足通道重建实验"

图3

蜘蛛步足仿生液压系统与仿生关节"

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