摘要
捕蝇草的叶片运动具备动作迅速、可逆、控制方便、结构简单等优点。本文从捕蝇草的快速运动中获得灵感,从微观和宏观层面上研究捕蝇草的基本结构和运动学特性。微观层面上,使用植物切片法和组织透明技术观察分析叶片的脉管系统结构、细胞尺寸及横向、纵向上细胞的排布规律。宏观层面上,利用高速摄像机和Kinovea图像分析软件分析叶片边缘的水平位移、速度、加速度、张开角度等的变化规律,采用非接触全场应变测量系统获得捕蝇草叶片闭合过程中外表面的应变情况;基于多孔介质模型,研究水分传输引起的细胞膨胀变形运动的规律,以及在流体作用下仿生柔性叶片的弯曲变形规律;最后使用3D打印技术制备仿生柔性叶片驱动器,进行实验验证。研究表明,本文提出的仿生柔性叶片驱动器通过流固耦合仿真技术能够在2 MPa的液压下在1 s内完成弯曲变形,最大弯曲角度为32.27°。同时,制备的仿生柔性叶片驱动器样机的实验结果与仿真结果基本吻合,验证了流固耦合仿真技术的可行性与正确性,完成了对捕蝇草叶片快速闭合运动的复现,闭合过程中实现了叶片的快速弯曲。
The leaf movement of the Venus flytrap possesses advantages such as rapid action,reversibility,easy control,and simple structure.Therefore,this paper draws inspiration from the rapid movement of Venus flytrap,and investigates its basic structure and kinematic characteristics at both the micro and macroscopic levels.At the microscale,the vascular system structure,cell size,and spatial arrangement of cells in the transverse and longitudinal directions of the leaf are observed and analyzed using plant sectioning and tissue clearing techniques.At the macroscale,the patterns of variation in horizontal displacement,velocity,acceleration,and opening angle of the leaf edge are analyzed using a high-speed camera and Kinovea image analysis software.Additionally,a non-contact full-field strain measurement system is employed to obtain the surface strain during the closure process of the Venus flytrap leaf.Based on a porous media model,the motion patterns of cell expansion deformation caused by moisture transport are investigated,as well as the bending deformation patterns of biomimetic flexible leaves under fluid influence.Finally,a biomimetic flexible leaf actuator is fabricated using 3D printing technology for experimental validation.The study demonstrates that the proposed biomimetic flexible leaf actuator,employing fluid-structure coupling simulation,is capable of achieving bending deformation within 1 second under a hydraulic pressure of 2 MPa,and the maximum bending angle is 32.27◦.Moreover,the experimental results of the fabricated prototype of the biomimetic flexible leaf actuator align closely with the simulation results,confirming the feasibility and accuracy of the fluid-structure coupling simulation technique.The reproduction of the rapid closure motion of Venus flytrap leaves is achieved,showcasing the swift bending of the leaf during the closure process.
作者
李健
黄美珍
闫杰
栾智博
王扬威
王雨涵
LI Jian;HUANG Meizhen;YAN Jie;LUAN Zhibo;WANG Yangwei;WANG Yuhan(College of Mechanical and Electrical Engineering,Northeast Forestry University,Harbin 150040,China)
出处
《机器人》
EI
CSCD
北大核心
2023年第6期710-719,736,共11页
Robot
基金
国家自然科学基金(51905084)。
关键词
捕蝇草运动机制
流固耦合仿真
多孔介质模型
柔性驱动器
3D打印技术
Venus flytrap movement mechanism
fluid-structure coupling simulation
porous media model
flexible actuator
3D printing technology
