沙样散粒体介质中动物运动的仿生生物力学研究

The bionic study of the motion of the granular media is helpful to the realization and optimization of the motion control of the bionic robot.The phenomenon that lizards can drill into the sand quickly has attracted wide interest from scientists in the field of biomechanics mechanism.In recent years there has been a lot of research and exploration on biomechanics mechanism of Scincus drilling into the sand and swimming under the sand。Compared with Scincus, UMA has more faster speed and more wider adaptability in the granular media moving, but the biomechanics mechanism of UMA has not been studied by the scientific community.Therefore, this project aims to biomechanical mechanism of UMA drilling into the sand. The main exploration: (1) the influence of the properties of the the granular media (the three factor of size, compactness and water contents)to UMA velocity; (2) the influence of UMA body oscillation frequency and the amplitude to the velocity; (3) the study on dynamics properties of the joints during UMA drilling into the sand. This project will use the methods of dynamics modeling simulation and simulation experiment to reseach,and can reveal movement biomechanical mechanism during UMA drilling into the sand after the completion of the study, so as to provide theoretical support and help for the development of bionic robot and understand UMA evolutionary habit.

沙样散粒体中运动的仿生研究有助于解决在该类介质中运动的仿生机器人机构运动控制的实现和优化。蜥蜴能够实现快速钻沙的现象已经引起科学家对其运动生物力学机制的广泛研究兴趣，近年来已有关于砂鱼蜥钻沙及沙下游泳运动生物力学机制的大量研究和探索。趾缘蜥（UMA）相比砂鱼蜥具有更高的钻沙速度和更宽泛的在散粒体介质中运动的适应性，但科学界对其运动机制至今尚无研究。因此，本项目拟对趾缘蜥钻沙的运动生物力学机制开展研究。主要探索：（1）散粒体特性（大小、紧密程度和含水量三个因素）对趾缘蜥运动速度的影响；（2）趾缘蜥身体的摆动频率和摆动振幅对其运动速度的影响；（3）趾缘蜥钻沙过程各关节的力学特性。本项目将借助动力学建模仿真和模拟实验手段开展研究，研究完成后可揭示趾缘蜥钻沙的运动生物力学机制，从而为研发类趾缘蜥仿生运动机器人以及了解趾缘蜥的生物进化习性等提供理论支持和帮助。

针对趾缘蜥（UMA）具有更高的钻沙速度和在更宽泛的在散粒体介质中运动适应性的现象，开展了趾缘蜥钻沙行为的运动生物力学机制的仿真和实验研究。为此，首先开展了趾缘蜥形态学和运动学参数的测量研究工作，为后续搭建有限元仿真模型提供基础。采用ABAQUS软件建立了趾缘蜥有限元模型，验证分析了仿真模型的有效性，并仿真分析了趾缘蜥钻沙过程中头部的应力分布情况以及不同初始钻沙速度对头部冲击响应的影响。运用实验方法研究了不同颗粒介质大小、体积分数和含水量对趾缘蜥运动速度的影响，发现了不同散粒体介质特性对其运动速度的影响规律。该研究可为研发用于搜救任务的类趾缘蜥仿生运动机器人以及了解趾缘蜥的生物进化习性等提供理论支持和帮助。

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