Research on the Integration of Bionic Geometry Modeling and Simulation of Robot Foot Based on Characteristic Curve

2017 International Conference on Advanced Technologies in Design, Mechanical and Aeronautical Engineering

工业技术;机械制造;航空航天工程

He, G.^1 ; Zhu, H.^1 ; Xu, J.^1 ; Gao, K.^1 ; Zhu, D.^1

College of Mechanical and Electrical Engineering, Hohai University, Changzhou, Jiangsu, China^1

关键词: Characteristic curve;    Improved designs;    Integration frameworks;    Integration techniques;    Joint rotations;    Parametric modeling;    Position information;    Post processing;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/234/1/012019/pdf
DOI  :  10.1088/1757-899X/234/1/012019

来源: IOP

【 摘 要 】

The bionic research of shape is an important aspect of the research on bionic robot, and its implementation cannot be separated from the shape modeling and numerical simulation of the bionic object, which is tedious and time-consuming. In order to improve the efficiency of shape bionic design, the feet of animals living in soft soil and swamp environment are taken as bionic objects, and characteristic skeleton curve, section curve, joint rotation variable, position and other parameters are used to describe the shape and position information of bionic object's sole, toes and flipper. The geometry modeling of the bionic object is established by using the parameterization of characteristic curves and variables. Based on this, the integration framework of parametric modeling and finite element modeling, dynamic analysis and post-processing of sinking process in soil is proposed in this paper. The examples of bionic ostrich foot and bionic duck foot are also given. The parametric modeling and integration technique can achieve rapid improved design based on bionic object, and it can also greatly improve the efficiency and quality of robot foot bionic design, and has important practical significance to improve the level of bionic design of robot foot's shape and structure.