Modellierung, Simulation und Entwurf biomimetischer Roboter basierend auf apedaler undulatorischer Lokomotion

Abstract

Abstract zur Dissertation
\nAutor: Jianjun Huang
\nTitel: Modellierung, Simulation und Entwurf biomimetischer Roboter basierend auf 
\n apedaler undulatorischer Lokomotion
\n
\n_____________________________________________________________________________________________
\n
\nThis dissertation presented is contributing to the current research in the interdisciplinary
\nfield of Biomechatronics. In order to develop a technical locomotion system on the
\nbasis of rigid multi body system inspired by biological systems (earthworm), the
\nconcepts of the undulatory locomotion has been described and implemented technically
\ninto the prototypes. Compared to other natural motion patterns, e.g. legged walking, the
\nbiomimetic robot based on the peristaltic principle is of great interest to the engineer
\nbecause of (1) the ability of miniaturization of compliant structures; (2) the ability to
\nmove on various terrain; (3) the ability to simplify the movement apparatus.
\nAccording to the research of MILLER and STEIGENBERGER two aspect of worm like
\nmotion are defined: (1) unsymmetrical friction and (2) periodic internal deformations
\nand its interactions with the environment. For this reason, in the theoretically
\nmechanical part of this dissertation, these specific principles have been studied with
\nanalytical and computer aided methods. Control algorithm (gaits) for robots with worm
\nlike locomotion that are based on more than two DOF spring mass models and are
\nrealizing a forward velocity are proposed. The computer simulation of the dynamic
\nbehavior of these models and the prototypes have been achieved with the multi body
\ndynamics package ALASKA. In most cases, the experimental evaluation of the
\nnumerical results have proven equality between the theory and the experiment.
\nFor the technical testing of the developed principle of locomotion and control algorithm
\ntwo prototypes, which use the electromechanical motor and imbalance system have
\nbeen designed and tested to produce an internal periodical excitation. The third
\nprototype uses a piezo actuator as a motor and a flexible mechanisms as transmission
\nelement.
\nPotential applications of robots with worm like motions are found in all fields of micro
\nand nanotechniques. For these constraint dimensions locomotion systems that have
\nclassical motion principles, e.g. the wheeled mobile systems or legged systems, are not
\nsuitable for future potential application environments characterized by special terrains
\nand tight space. Apedale peristaltic principle of locomotion may play an important role
\nin the development of new apparatuses in micro technology. The development of
\napplications in minimally invasive surgery has been encouraged by many national and
\ninternational research institutes. The theoretical and experimental investigation have
\nshown that future research is necessary.