Research review on bionic.docx

Research review on bionic.docx

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Researchreviewonbionic

上海大学2014～2015学年春季学期研究生课程考试

课程名称：

专业英语课程编号：

09SAT7001

论文题目:

Researchreviewonbionic robot

研究生姓名:

华明亚学号:

14721353

论文评语:

成绩:

任课教师:

郑华东

评阅日期:

Researchreviewonbionic robot

HuaMingya（华明亚）

（Schoolofmechanicalengineeringandautomation,ShanghaiUniversity,Shanghai200072,China）

Abstract:

Intheprocessofhumanunderstandingandtransformingtheworld,therearesomeareawherehumanscannotreachorsomespecialoccasionwheresomethingmayendangerhumanlife,suchasplanetaryexploration,deepseaexploration,disasterrescue,counter-terrorismactivitiesandsoon.Butbionicrobotprovidesaneffectivewayinordertosolvetheaboveproblems. Withthe developmentofrobottechnology and bionics, bionicrobot hasattracted wideattentionofscholars. Manyorganizations havedonealotofresearchin thisfield. Theyhavemadeaseriesofresults.Andtheclassificationbasedontheoccasionofthebionicrobotapplication,thearticlebrieflyintroducestheresearchprogressofdomesticandforeigntypicalbionicrobotfromthethreepartyincludinggroundbionicrobot,UnderwaterBionicRobotandairbionicrobot.Finallythedevelopmenttrendofbionicrobotisshownattheendofthearticle.

Keywords:

Bionicrobot; robotmovement; developmenttrend; 

1.Introduction

1.1Thestatusofforeignresearch robot

Becauseofbionicrobotdexterousmovementforhumanproductionandscientificresearchactivitiesthathasagreathelp,therobotscientistsbeganaboutthebionicrobotresearchsincethemid-1980s,.

Since1983,theRoboticsResearchCorporationtohumanoidarmcombinationofwasconceived,basedonaseriesofjointdevelopedK-1607Series7degreesoffreedomhumanoidarmandK/b2017armsonerobot,thesinglearm/b2017havebeenusedforspatialexperimentalstation.

In1986 America Utah University EngineeringCenter, thesuccessfuldevelopmentof thefamousUTAH/MIT dexteroushand. The hand has fourfingers, thumb joint two, theremainingthree referstothe three joint. Thefingerjoints anda rope tensionsensor driver. In1990 theBaerlaboratory completedthehardwareandsoftware ofthe controlsystemof dexteroushand,andsimulate avarietyofactions, graspingthe objectheld by experiment.TheCED,sarcosresearchcompanyBellLaboratoriesandtheDepartmentofenergyandjointlydevelopedthehumanoidarmwiththehand,andtheintroductionofanewsmartremotecontrolsystem（DTS）. Adexterousarm （DA） is oneofthe 10degreeoffreedom hydraulic arm（including threedegreeoffreedom hand）. Made three fingeredhumanoid dexteroushand armsystem in1995 Bologna University inPUMA basedon robot.

In1999,JapandevelopedinJapan'spetdogAIBOERS-110thathas18joints,andeachjointbytheservomotordrivetokeepthebiomimeticRoboticsLaboratoryinflexiblemovement.CWRUstudiedcricketmotorfunctionbasedrobotwithsixlegs,twobacklegslonger,therearetwojoints.Eachlegofthemovementthroughthecompressedairtodrive,itcanincertainrangewalkingandjumping,abletoadapttotheharshterrainandobstacles.

Atpresent,theforeignrobots,towardintelligent,high-performance,miniaturization,havebeenattheforefrontofscienceandtechnology,leadingthedevelopmentofrobots.

1.2Thestatusofdomesticresearch robot

Somedomesticscientificresearchinstitutions,suchasBeihangUniversity,Greeley,nationaldefensescienceandTechnologyUniversity,SoutheastUniversity,ShenyangInstituteofautomation,andHarbinInstituteoftechnology,takearesearchinbionicrobot.SupportedbynationalX63"intelligentrobottheme,theInstituteofBeijingUniversityofAeronauticsandAstronauticsrobotresearchhasbeendevelopedtoachieveasimplegraspingandoperationwhichcanwork3to9DOFsdexteroushand. 

figure1bionicscrab

ShenyangInstituteofautomationresearchdevelopsa6000m autonomousunderwater robot whichreachestheworldadvancedlevel.Hagongdarobotresearchdevelopedthehighflexibilityofthehumanoidarmandtheanthropomorphicbipedwalkingrobot.Thehumanoidarmhasalargeworkingspace,nojointorientationsingularityandcompactstructure. The controlsoftware canrealize obstacleavoidance, avoiding jointlimitsand optimize thedynamicperformance. Bipedwalkingrobotisajointstructure,with12degreesoffreedom,whichcancompletethegroundforward,backward,lateral,steeringanddownthestairsandwalkingfunction.

Althoughinthestudyofbionicrobot,theUnitedStatesandJapanwalkintheforefront.Inaddition,Canada,Britain,Sweden,Norway,Australiaandothercountriesalsoperformveryprominentlyinthisarea,butourrobottechnology,withsomeefforts,graduallynarrowsthegapfromdevelopedcountries. InChina, researchersfromtheHarbinEngineeringUniversity Collegeofmechanicalandelectricalengineering hasdevelopeda bionicscrab

 asshowninfigure1. Theexperimentshowsthatthebioniccrabcanbeinaccordancewiththequadripodgaitinflatandachievingforward,backward,infestation,turningleftandrightaction,rampantwhenthemaximumspeedofabout0.2m/s,beforeandafterwalkingmaximumfor0.1m/s,anditcanspan30mmhighbarrier. Inwatersports,thewholemachinecrabshouldbeintoofthecustomofflexibleleatherthatisdesignaccordingtotheappearance（thewholepackageofwaterproof）.

2Theresearchcontent oftherobot

Bionicrobot consistsof ground bionicrobot,theairbionicrobot andUnderwaterBionicrobot.

2.1Ground bionicrobot

Groundbionicrobotiswidelyused,suchasinthearchaeological,exploreunknowncelestialbodies,poorworkingenvironmentandsoon,whoseapplicationisanindispensableposition.Therefore,theresearchofthemforscientificresearch,medicalandlifehasaimportantsignificance. Followingisabriefintroductionof twokindsofground robot.

BionicHexapodRobotplaysakeyroleinbattlefieldreconnaissance,targetedkillings,searchandrescueunderthedangerousenvironmentandnarrowworkingspacedetectionfield. Itiseasytorealize thestabilityof crawling, favored bythemajorityofresearchers. Thestructureof sixleggedrobotandhexagonal sixleggedrobot arecommon rectangular . ChuandPang

comparedofaxisofsymmetricbodysixleggedrobotandcircularsymmetricbodysixleggedrobot,andfoundthatcircularsymmetricsixleggedrobotfromtheshifttoperformanceandstabilitymarginhasbetterperformance. BeijingUniversityofAstronauticsDingXilun

researchgroupmainlymaderesearchforcircularsymmetricdistributionofsixleggedwalkingrobotgaitandstabilityanalysis,founditcanonlycrawlintheplaneandthecontrolmethodislackofconsideration. HarbinInstituteoftechnology

designedahexapodwalkingrobotwhichcanwalkintheroughterrain.TherobotisarmedwithFPGAmulti-levelcontrolstructure,withloadcapacity,anditsfeasibilityhasbeenvalidatedbysimulationexperiments.

TheHexapodclimbingwallrobotisdesignedwiththefullrangeofmotionandasimplestructure（Figure2）,whichis141g. Theoverallstructureof therobotuses thecircularsymmetric structuredesign.Therobot ismainlycomposedoftwoparts,bodycomposition.

Figure2Therobot 3DCAD modeland physicalmap

Inordertosimplifytherobotstructure,wemodeledthewayofulnarwoking,andlowerbodyareconnectedviacranksliderstructure,drivenbyamotorcrankreciprocatingmotion.Itcanrealizethebodyforwardandbackwardmovementbetweenthelinearrelativemotion.Anditcanachieveflexiblesteeringmotionandupperandlowerbodywitharotationaldegreesoffreedom.

Thisrobotisonthewallsurfaceofthefullrangeofoperation.

Figure3Machine spider

NASA's,inDecember2002,developedamechanicalspidersSpider-potsuccessfully.AsshowninFigure3,itisequippedwithapairofantennacanbeusedtodetectobstacles.Withthehelpofunusualflexiblelegs,itcanleapoverobstacles,rockclimbing,visitonwheelsrollingalongtheareawherethemachinecannotreach. With apetitefigure, thismachine isverysuitableforthe explorationof comets, asteroids, spiders andothersmallobjects. Intheinternationalspacestation,itcanserveas maintenance, timelydetectionof airleakage fault

.

2.2Air bionicrobot

Mechanical fliescan beusedasrescuerobots or spy aircraft. Machineflyweightonly60mgwithawingspanofonlythreecentimeters,anditistypicalofthebionicsproducts,whosetheflightmotionprincipleissimilarwithreallyflies. ResearchersattheUniversityofCalifornia,Berkeley,hasdevelopedamachineflies,asshowninFigure4,inordertousedforbionicprincipletoobtainfliesgoodflightperformance. Machineflieswithordinaryflysizeandfourwings,onlyoneglasseyes,massofabout43mgdiameterof510mm,andthebodyiswiththestainlesssteelasthinaspapermadewingswithpolyesterresin. BythesolarcellDrive, 1miniature piezoelectricquartz drive withfrequency upto180times the/s 4itssmallwings.

Duetosmallsize, theflowofairaround the fliesis moreviscous thanbirds or afixedwingaircraft. Forinsect,flyingisliketotreadwater. TheAir Force Wings movement canchangetheintensity in1/1000seconds. Onthecontrary, thetraditional wing issubjecttothe smooth flowofgas. Becauseofthedifference,forecastingaircraftperformanceanalysistoolfordynamicflyinginsectshadlittleeffect,whichalsomakesthedevelopmentofroboticflyincreasinglydifficult. Researchworkersinordertosolvethemachinefliesdesigndistortionsandpat,materialcontrolandlowpowerconsumptionproblems,eventual