当前位置: X-MOL 学术Sci. Robot. › 论文详情
Our official English website, www.x-mol.net, welcomes your feedback! (Note: you will need to create a separate account there.)
A controllable dual-catapult system inspired by the biomechanics of the dragonfly larvae’s predatory strike
Science Robotics ( IF 25.0 ) Pub Date : 2021-01-20 , DOI: 10.1126/scirobotics.abc8170
Sebastian Büsse 1 , Alexander Koehnsen 1 , Hamed Rajabi 1 , Stanislav N Gorb 1
Affiliation  

The biomechanics underlying the predatory strike of dragonfly larvae is not yet understood. Dragonfly larvae are aquatic ambush predators, capturing their prey with a strongly modified extensible mouthpart. The current theory of hydraulic pressure being the driving force of the predatory strike can be refuted by our manipulation experiments and reinterpretation of former studies. Here, we report evidence for an independently loaded synchronized dual-catapult system. To power the ballistic movement of a single specialized mouthpart, two independently loaded springs simultaneously release and actuate two separate joints in a kinematic chain. Energy for the movement is stored by straining an elastic structure at each joint and, possibly, the surrounding cuticle, which is preloaded by muscle contraction. As a proof of concept, we developed a bioinspired robotic model resembling the morphology and functional principle of the extensible mouthpart. Understanding the biomechanics of the independently loaded synchronized dual-catapult system found in dragonfly larvae can be used to control the extension direction and, thereby, thrust vector of a power-modulated robotic system.



中文翻译:

受蜻蜓幼虫掠食性攻击的生物力学启发的可控双弹射系统

蜻蜓幼虫掠食性袭击背后的生物力学尚不清楚。蜻蜓幼虫是水生伏击捕食者,用经过高度改良的可伸展口器捕捉猎物。液压是掠夺性攻击的驱动力的当前理论可以通过我们的操纵实验和对以前研究的重新解释来反驳。在这里,我们报告了独立加载的同步双弹射系统的证据。为了为单个专用口器的弹道运动提供动力,两个独立加载的弹簧同时释放和驱动运动链中的两个独立关节。运动的能量是通过拉伸每个关节的弹性结构来储存的,可能还有周围的角质层,它是由肌肉收缩预加载的。作为概念证明,我们开发了一种仿生机器人模型,类似于可扩展口器的形态和功能原理。了解在蜻蜓幼虫中发现的独立加载同步双弹射系统的生物力学可用于控制伸展方向,从而控制功率调制机器人系统的推力矢量。

更新日期:2021-01-21
down
wechat
bug