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| 1 | 仿生介入机器人的运动性能显示文摘针对弯曲多变的生物管腔,基于腹足动物运动机理,提出一种新型仿生介入机器人.通过理论建模及实验手段,分析管腔内壁表面特性、控制磁流变液固化的磁场强度、管腔蠕动、动压润滑膜减阻效果、直线电机运动方向变化频率对机器人运动性能的影响.结果表明:动压润滑膜能有效减小运动过程中的阻力;管壁内表面特性、控制磁流变液固化的磁场强度是影响机体与管道壁啮合效果的重要因素;直线电机运动方向的变化频率将影响机器人的运动性能;机器人能一定程度顺应管腔的自主或受迫小幅波动;当波动幅度较大时,机器人运动效率将大大降低. | 陈柏 陈笋 蒋素荣 吴洪涛 | 2010 | 机器人2010，32，3： | 7 |
| 2 | Propulsion Modeling and Analysis of a Biomimetic Swimmer显示文摘We have studied a biomimetic swimmer based on the motion of bacteria such as Escherichia coli (E. coli) theoretically andexperimentally. The swimmer has an ellipsoidal cell body propelled by a helical filament. The performance of this swimmer wasestimated by modeling the dynamics of a swimmer in viscous fluid. We applied the Resistive Force Theory (RFT) on this modelto calculate the linear swimming speed and the efficiency of the model. A parametric study on linear velocity and efficiency tooptimize the design of this swimmer was demonstrated. In order to validate the theoretical results, a biomimetic swimmer wasfabricated and an experiment setup was prepared to measure the swimming speed and thrust force in silicone oil. The experimentalresults agree well with the theoretical values predicted by RFT. In addition, we studied the flow patterns surrounding thefilament with a finite element simulation with different Reynolds number (Re) to understand the mechanism of propulsion. Thesimulation results provide information on the nature of flow patterns generated by swimming filament. Furthermore, the thrustforces from the simulation were compared with the thrust forces from theory. The simulation results are in good agreement withthe theoretical results. | Ngoc San Ha Nam Seo Goo | 2010 | Journal of Bionic Engineering2010，7，3： | 5 |
| 3 | 正交实验设计优化离子聚合物金属复合材料的力输出性能显示文摘离子聚合物金属复合材料(ionic polymer metal composite)作为新型驱动材料在微小系统驱动等方面有着明确的应用前景,输出力较低和对水环境的依赖限制了该材料进一步的应用.本文采用正交实验设计法,针对IPMC制备过程中的3个主要参数,选用L16(45)正交表,以输出力为指标开展制备工艺的优化.结果表明主镀过程铂氨复合物的浓度对IPMC输出力的影响最大,Nafion膜中四乙氧基硅(TEOS)含量对输出力的影响次之,还原剂浓度对输出力没有显著影响.在实验确定的最优条件下,IPMC的最大输出力达到50mN,相应的最大位移为14mm.在最大输出位移性能相当的情况下,较常规条件最大力输出提高了2.4倍,有效工作寿命大幅提高,有效力输出延长了5.8倍,有效位移输出性能延长了5倍.该研究为IPMC进一步的应用奠定了坚实的基础. | 何青松 于敏 丁燕 郭东杰 李佳波 戴振东 | 2011 | 科学通报2011，56，14： | 5 |
| 4 | 陆上杆机构运动仿生的现状、关键技术及未来发展显示文摘从运动仿生的生物学基础、仿生运动体的发展和存在问题、运动仿生的未来发展等几个方面回顾和评述运动仿生面临的问题和发展机遇。分析了四足动物运动的生物学机制和国内外现有仿生机器人发展现状及存在的问题,并预测先进环境感知技术、分布式驱动和智能驱动材料、杆机构机器人与智能控制技术和动物运动规律的研究将是未来运动仿生发展的方向。 | 戴振东 | 2012 | 南京航空航天大学学报2012，44，5： | 4 |
| 5 | Force optimization of ionic polymer metal composite actuators by an orthogonal array method显示文摘Ionic polymer metal composites (IPMCs), a new kind of electro-active polymer, can be used for micro robotic actuators, artificial muscles and dynamic sensors. However, IPMC actuators have the major drawbacks of a low generative blocking force and dependence on a humid environment, which limit their further application. Multiple process parameters for the fabrication of IPMCs were optimized to produce a maximum blocking force; the parameters included reducing agent concentration, platinum salt concentration in the initial compositing process, and tetraethyl orthosilicate (TEOS) content. An orthogonal array method was designed and a series of fabrication experiments were carried out to identify the optimum process parameters. The results show that the platinum salt concentration in the initial compositing process plays the most significant role in improving the blocking force of IPMCs, the TEOS content plays an important role, and the reducing agent concentration has no apparent effect on the blocking force. In the optimized conditions, the IPMC actuator exhibited maximum blocking force of 50 mN, and the corresponding displacement was 14 mm. Compared with normal conditions, the blocking force improved 2.4-fold without sacrificing the displacement, and the effective air-operating life was prolonged 5.8-fold for the blocking force and 5-fold for the displacement. This study lays a solid foundation for further applications of IPMCs. | YU Min HE QingSong DING Yan GUO DongJie LI JiaBo DAI ZhenDong | 2011 | Chinese Science Bulletin2011，56，19： | 3 |
| 6 | 多片叠加工艺提高IPMC力输出性能研究显示文摘离子聚合物复合材料IPMC(Ionic polymer-metal composite)是一种新型的电致动材料,在微小系统驱动方面有巨大的应用潜力,但输出力较低限制了该材料进一步的开发应用。本文采用聚合物溶液浇铸技术制备Nafion基底膜,通过化学镀方法在Nafion基底膜上均匀沉积铂金属电极,获得IPMC复合材料。针对IPMC输出力较低的缺点,通过多片薄膜并联设计的方法,提高IPMC驱动器的力输出性能。在IPMC测试平台上进行力输出性能测试,测试结果表明,多片IPMC叠加可显著提高IPMC的力输出性能,随叠加层数的增加,IPMC力输出叠加效率有所降低。 | 于敏 何青松 汤伊黎 韦海菊 戴振东 | 2012 | 化学工程师2012，26，12： | 2 |
| 7 | 一种基于腹足动物运动机理的介入机器人显示文摘在对腹足动物运动机理研究的基础上,基于仿生学原理提出一种介入机器人设计方案。通过理论建模及实验手段对机器人仿生设计效果及运动性能进行研究。结果表明:对粘液功能的模拟方案正确;机器人正常运行速度由直线微马达伸缩速度决定,但过快的微马达运动方向变化会导致机器人运行效率的降低。 | 陈柏 陈笋 杨朋飞 吴洪涛 | 2009 | 南京航空航天大学学报2009，41，5： | 1 |
| 8 | Purcell's Swimmer Revisited显示文摘Purcell's swimmer was proposed by E. M. Purcell to explain bacterial swimming motions. It has been proved experimentally that a swimmer of this kind is possible under inertial-less and high viscous environment. But we could not investigate all the aspects of this mechanism through experiments due to practical difficulties. The computational fluid dynamics (CFD) provides complementary methods to experimental fluid dynamics. In particular, these methods offer the means of testing theoretical advances for conditions unavailable experimentally. Using such methodology, we have investigated the fluid dynamics of force production associated with the Purcell's swimmer. By employing dynamic mesh and user-defined functions, we have computed the transient flow around the swimmer for various stroke angles. Our simulations capture the bidirectional swimming property successfully and are in agreement with existing theoretical and experimental results. To our knowledge, this is the first CFD study which shows the fact that swimming direction depends on stroke angle. We also prove that for small flapping frequencies, swimming direction can also be altered by changing frequency-showing breakdown of Stokes law with inertia. | M. Siva Kumar P. Philominathan | 2012 | International Journal of Automation and computing2012，9，3： | 0 |
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