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Ukuhlanganisa izindwangu kanye nemisipha yokwenziwa ukuze udale izindwangu ezihlakaniphile kuheha ukunakwa okuningi okuvela kokubili imiphakathi yesayensi neyezimboni.Izindwangu ezihlakaniphile zinikeza izinzuzo eziningi, okuhlanganisa ukunethezeka okuguquguqukayo kanye nezinga eliphezulu lokuhambisana nezinto kuyilapho kuhlinzeka ngokusebenza okusebenzayo kokunyakaza okufunekayo namandla.Lesi sihloko sethula ikilasi elisha lezindwangu ezihlakaniphile ezihlelekayo ezenziwe kusetshenziswa izindlela ezahlukahlukene zokuluka, ukuluka kanye nokunamathelisa amafayibha emisipha yokwenziwa aqhutshwa uketshezi.Imodeli yezibalo yasungulwa ukuze ichaze isilinganiso samandla wokwelula amashidi ezindwangu ezilukiweyo ezilukiweyo, kwase kuthi ukufaneleka kwawo kwahlolwa ngokuhlolwa.Indwangu entsha "ehlakaniphile" ifaka ukuguquguquka okuphezulu, ukuvumelana, kanye nezinhlelo zokusebenzisa imishini, okuvumela ukunyakaza kwezindlela eziningi kanye namakhono okuguqula uhla olubanzi lwezinhlelo zokusebenza.Ama-prototypes endwangu ehlakaniphile ahlukahlukene adalwe ngokuqinisekiswa kokuhlolwa, okuhlanganisa izimo ezihlukahlukene zokushintsha umumo njengobude (kufika ku-65%), ukunwetshwa kwendawo (108%), ukunwetshwa kweradial (25%), nokunyakaza okugobayo.Umqondo wokulungiswa kabusha kwezicubu zendabuko ezingenzi lutho zibe izakhiwo ezisebenzayo zezakhiwo zokubunjwa kwe-biomimetic nawo uyacutshungulwa.Izindwangu ezihlakaniphile ezihlongozwayo kulindeleke ukuthi zenze kube lula ukuthuthukiswa kwezinto ezigqokwayo ezihlakaniphile, amasistimu e-haptic, amarobhothi athambile e-biomimetic, nezinto zikagesi ezigqokekayo.
Amarobhothi aqinile asebenza kahle lapho esebenza ezindaweni ezihlelekile, kodwa anezinkinga ngesimo esingaziwa sokushintsha izindawo, okunciphisa ukusetshenziswa kwawo ekusesheni noma ekuhloleni.Imvelo iyaqhubeka nokusimangaza ngamasu amaningi okusungula ukubhekana nezici zangaphandle kanye nokuhlukahluka.Isibonelo, amathenda ezitshalo ezikhuphukayo enza umnyakazo wezinto eziningi, njengokugoba nokuzungeza, ukuhlola indawo engaziwa lapho kufunwa uxhaso olufanele1.I-Venus flytrap (i-Dionaea muscipula) inezinwele ezizwelayo emaqabunga ayo okuthi uma iqalwa, ingene endaweni ukuze ibambe inyamazane2.Eminyakeni yamuva nje, ukuwohloka noma ukuwohloka kwemizimba ukusuka endaweni enezinhlangothi ezimbili (2D) ukuya kumomo we-3-dimensional (3D) elingisa izakhiwo zebhayoloji kube yisihloko socwaningo esithokozisayo3,4.Lokhu kulungiselelwa okuthambile kwerobhothi kushintsha umumo ukuze kujwayelane nezimo ezishintshayo, kunikeze amandla ukunyakaza kwe-multimodal, futhi kusebenzise amandla ukwenza umsebenzi wemishini.Ukufinyelela kwabo kuye kwafinyelela kuhlelo olubanzi lwezinhlelo zokusebenza zamarobhothi, okuhlanganisa ama-deployables5, amarobhothi alungisekayo futhi azigoqayo6,7, ama-biomedical devices8, izimoto9,10 kanye nama-electronics anwebekayo11.
Ucwaningo oluningi selwenziwe ukuthuthukisa amapuleti ayisicaba ahlelekayo okuthi, uma ecushiwe, aguquke abe izakhiwo eziyinkimbinkimbi ezinezinhlangothi ezintathu3.Umqondo olula wokwenza izakhiwo ezigugayo uwukuhlanganisa izingqimba zezinto ezihlukene eziguquguqukayo futhi ezishwabene lapho zivezwe ku-stimuli12,13.UJanbaz et al.14 kanye noLi et al.15 basebenzise lo mqondo ukuze bakhe amarobhothi ashintshashintshayo azwela ukushisa amaningi.Izakhiwo ezisekelwe ku-Origami ezihlanganisa izakhi eziphendula ukuvuselela ziye zasetshenziselwa ukwakha izakhiwo eziyinkimbinkimbi ezinezinhlangothi ezintathu16,17,18.Ephefumulelwe yi-morphogenesis yezakhiwo zezinto eziphilayo, u-Emmanuel et al.Ama-elastomer akhubazekayo akhiwe ngokuhlela imigudu yomoya ngaphakathi kwendawo yenjoloba okuthi, ngaphansi kwengcindezi, iguqule ibe yizimo eziyinkimbinkimbi, ezingaqondakali ezinezinhlangothi ezintathu.
Ukuhlanganiswa kwezindwangu noma izindwangu kumarobhothi athambile akhubazekayo kungenye iphrojekthi yomqondo omusha okhiqize isithakazelo esisabalele.Izindwangu ziyizinto ezithambile nezinwebekayo ezenziwe ngentambo ngamasu okuluka njengokuluka, ukuluka, ukuluka, noma ukwaluka ifindo.Izakhiwo ezimangalisayo zezindwangu, ezihlanganisa ukuguquguquka, ukulingana, ukunwebeka kanye nokuphefumula, zizenza zidume kakhulu kukho konke kusukela kwezingubo kuya kwezokwelapha20.Kunezindlela ezintathu ezibanzi zokufaka izindwangu kumarobhothi21.Indlela yokuqala ukusebenzisa indwangu njengesisekelo sokwenziwa noma isisekelo sezinye izingxenye.Kulokhu, izindwangu ezingenzi lutho zihlinzeka ngokulingana okunethezekile kumsebenzisi lapho ephethe izinto eziqinile (amamotho, izinzwa, ukunikezwa kwamandla).Amarobhothi amaningi athambile agqokekayo noma ama-exoskeleton athambile awela ngaphansi kwale ndlela.Isibonelo, ama-exoskeleton athambile agqokekayo wezinsiza zokuhamba 22 kanye ne-elbow aids 23, 24, 25, amagilavu athambile agqokekayo 26 wezinsiza zezandla neminwe, namarobhothi athambile e-bionic 27.
Indlela yesibili iwukusebenzisa izindwangu njengezingxenye ezingenzi lutho nezilinganiselwe zamadivayisi erobhothi athambile.Ama-actuator asekelwe ku-textile awela kulesi sigaba, lapho indwangu ivame ukwakhiwa njengesiqukathi sangaphandle ukuze siqukathe ipayipi elingaphakathi noma igumbi, okwenza i-actuator eqinile ye-fiber ethambile.Uma ingaphansi komthombo wangaphandle we-pneumatic noma we-hydraulic, lawa ma-actuator athambile abhekana nezinguquko zomumo, okuhlanganisa ukunwetshwa, ukugoba noma ukusonteka, kuye ngokwakheka nokucushwa kwawo kwasekuqaleni.Ngokwesibonelo, uTalman et al.Izingubo zeqakala zamathambo, ezihlanganisa uchungechunge lwamaphakethe endwangu, zethulwe ukuze kube lula ukuguquguquka kwe-plantar ukubuyisela ukuhamba kwe-gait28.Izendlalelo zendwangu ezinokwandiswa okuhlukile zingahlanganiswa ukuze zenze ukunyakaza kwe-anisotropic 29.I-OmniSkins - izikhumba ezithambile zamarobhothi ezenziwe ngama-actuator athambile ahlukahlukene kanye nezinto ze-substrate zingaguqula izinto ezingenzi lutho zibe amarobhothi asebenzayo asebenza ngezindlela eziningi angakwazi ukunyakaza okuhlukahlukene kanye nokuguqulwa kwezinhlelo zokusebenza ezihlukahlukene.UZhu et al.baye basungula i-liquid tissue muscle sheet31 engakwazi ukukhiqiza ubude, ukugoba, nokunyakaza okuhlukahlukene kokuguqulwa.Buckner et al.Hlanganisa imicu esebenzayo ibe yizicubu ezijwayelekile ukuze udale izicubu zerobhothi ezinemisebenzi eminingi efana nokuvula, ukuzwa, nokuqina okuguquguqukayo32.Ezinye izindlela kulesi sigaba zingatholakala kulawa maphepha 21, 33, 34, 35.
Indlela yakamuva yokusebenzisa izici eziphakeme zezindwangu emkhakheni wamarobhothi athambile iwukusebenzisa imicu esabelayo noma esabela ukuvuselela ukuze kwakhiwe izindwangu ezihlakaniphile kusetshenziswa izindlela zokukhiqiza izindwangu zendabuko ezifana nezindlela zokuluka, ukunitha nezindlela zokuluka21,36,37.Ngokuya ngokwakhiwa kwezinto, intambo esebenzayo ibangela ukuguqulwa kwesimo lapho ingaphansi kwesenzo sikagesi, esishisayo noma sokucindezela, okuholela ekuguqulweni kwendwangu.Ngale ndlela, lapho izindwangu zendabuko zihlanganiswa ohlelweni lwe-robotic oluthambile, ukubunjwa kabusha kwendwangu kwenzeka kungqimba lwangaphakathi (uchungechunge) kunesendlalelo sangaphandle.Ngakho-ke, izindwangu ezihlakaniphile zinikeza ukuphatha okuhle kakhulu ngokuya ngokunyakaza kwe-multimodal, ukuguqulwa okuhlelekayo, ukunwebeka, kanye nekhono lokulungisa ukuqina.Isibonelo, ama-alloys enkumbulo yomumo (ama-SMA) kanye nama-polymers enkumbulo yomumo (SMPs) angafakwa ezindwangu ukulawula ngenkuthalo ukwakheka kwawo ngokuvuselela okushisayo, njenge-hemming38, ukususwa kwemibimbi36,39, impendulo ethintekayo kanye ne-tactile40,41, kanye nokuguquguquka. izingubo ezigqokekayo.imishini 42.Nokho, ukusetshenziswa kwamandla ashisayo ekushisiseni nasekupholiseni kubangela ukusabela kancane kanye nokupholisa nokulawula okunzima.Muva nje, u-Hiramitsu et al.Imisipha emihle kaMcKibben43,44, imisipha yokwenziwa yomoya, isetshenziswa njengezintambo eziqondile ukuze kwakhiwe izinhlobo ezihlukahlukene zezindwangu ezisebenzayo ngokushintsha isakhiwo se-weave45.Nakuba le ndlela inikeza amandla aphezulu, ngenxa yemvelo ye-McKibben muscle, izinga layo lokwandisa lilinganiselwe (< 50%) futhi usayizi omncane awukwazi ukutholakala (ububanzi <0.9 mm).Ngaphezu kwalokho, kube nzima ukwenza amaphethini endwangu ahlakaniphile ezindleleni zokuluka ezidinga amakhona abukhali.Ukwakha uhla olubanzi lwezindwangu ezihlakaniphile, uMaziz et al.Izindwangu ezigqokekayo ezisebenzisa amandla kagesi zakhiwe ngokuluka nokuluka imicu ye-polymer ezwelayo kagesi46.
Eminyakeni yamuva nje, kuye kwavela uhlobo olusha lwemisipha yokufakelwa ye-thermosensitive, eyakhiwe ngama-polymer fibers asontekile kakhulu, angabizi kakhulu47,48.Le micu iyatholakala ngokwentengiso futhi ifakwa kalula ekwalukeni noma ekwalukeni ukuze kukhiqizwe izingubo ezihlakaniphile ezithengekayo.Ngaphandle kwentuthuko, lezi zindwangu ezintsha ezingezwani nokushisa zinezikhathi zokuphendula ezilinganiselwe ngenxa yesidingo sokushisisa nokupholisa (isb. izindwangu ezilawulwa izinga lokushisa) noma ubunzima bokwenza amaphethini alukiweyo ayinkimbinkimbi angahlelwa ukuze akhiqize ukuguga nokunyakaza okufunayo. .Izibonelo zifaka ukunwetshwa kwe-radial, ukuguqulwa komumo we-2D ukuya ku-3D, noma ukunwetshwa kwe-bi-directional, esikunikeza lapha.
Ukuze unqobe lezi zinkinga ezishiwo ngenhla, le ndatshana iveza indwangu entsha ehlakaniphile eqhutshwa uketshezi eyenziwe ngemicu yethu ethambile yokwenziwa yemisipha (AMF)49,50,51 esanda kwethulwa.Ama-AMF aguquguquka kakhulu, ayakwazi ukwehliswa futhi angancishiswa abe ububanzi obungu-0.8 mm nobude obukhulu (okungenani u-5000 mm), anikeze isilinganiso esiphezulu sesici (ubude kuya kububanzi) kanye nokwelulwa okuphezulu (okungenani u-245%), amandla aphezulu. ukusebenza kahle, impendulo esheshayo engaphansi kwe-20Hz).Ukwakha izindwangu ezihlakaniphile, sisebenzisa i-AMF njengentambo esebenzayo ukuze sakhe izendlalelo zemisipha ezisebenzayo ze-2D ngokusebenzisa izindlela zokuluka nokuluka.Sifunde ngobuningi izinga lokunwetshwa namandla okufinyela alezi zicubu “ezihlakaniphile” ngokwevolumu yoketshezi nokucindezela okulethwayo.Amamodeli okuhlaziya asungulwe ukuze kusungulwe ubudlelwano bamandla e-elongation kumashidi alukiweyo nalukiwe.Siphinde sichaze izindlela ezimbalwa zokuhlela zemishini yezindwangu ezihlakaniphile zokunyakaza kwe-multimodal, okuhlanganisa isandiso se-bi-directional, ukugoba, ukunwetshwa kwe-radial, kanye nekhono lokushintsha usuka ku-2D uye ku-3D.Ukukhombisa amandla endlela yethu, sizophinde sihlanganise i-AMF ezindwangu zezentengiselwano noma izindwangu ukuze siguqule ukucushwa kwazo kusuka ku-passive kuya ezakhiweni ezisebenzayo ezibangela ukuguga okuhlukahlukene.Siphinde sabonisa lo mqondo kumabhentshi ambalwa okuhlola, okuhlanganisa ukugoba okuhlelekayo kochungechunge ukuze kukhiqizwe izinhlamvu ezifiselekayo kanye nezakhiwo zebhayoloji ezishintshashintshayo zibe sesimweni sezinto ezifana nezimvemvane, izakhiwo ezinezinhlangothi ezine nezimbali.
Izindwangu ziyizakhiwo eziguquguqukayo ezinezinhlangothi ezimbili ezakhiwe ngezintambo ezinohlangothi olulodwa olulukiwe njengezintambo, imicu kanye nemicu.Indwangu ingobunye bobuchwepheshe obudala kakhulu besintu futhi isetshenziswa kabanzi kuzo zonke izici zokuphila ngenxa yokunethezeka kwayo, ukuguquguquka, ukuphefumula, ubuhle nokuvikela.Izindwangu ezihlakaniphile (ezaziwa nangokuthi yizingubo ezihlakaniphile noma izindwangu zamarobhothi) ziya ngokuya zisetshenziswa ocwaningweni ngenxa yamandla azo amakhulu ezinhlelweni zamarobhothi20,52.Izindwangu ezihlakaniphile zithembisa ukuthuthukisa ulwazi lomuntu lokusebenzisana nezinto ezithambile, zingenise ukushintsha kwe-paradigm emkhakheni lapho ukunyakaza namandla endwangu encane, eguquguqukayo kungalawulwa ukuze kwenziwe imisebenzi ethile.Kuleli phepha, sihlola izindlela ezimbili zokukhiqizwa kwezindwangu ezihlakaniphile ezisekelwe ku-AMF49 yethu yakamuva: (1) sebenzisa i-AMF njengentambo esebenzayo ukuze kwakhiwe izindwangu ezihlakaniphile zisebenzisa ubuchwepheshe bendabuko bokukhiqiza izindwangu;(2) faka i-AMF ngqo ezindwangu zendabuko ukuze ukhuthaze ukunyakaza okufunayo nokuguqulwa.
I-AMF iqukethe ishubhu ye-silicone yangaphakathi ukuze inikeze amandla adonswa amanzi kanye nekhoyili ye-helical yangaphandle ukuze kukhawulwe ukunwetshwa kwayo kwemisebe.Ngakho, ama-AMF anda ngobude lapho kusetshenziswa ingcindezi futhi abonise amandla enkontileka ukuze abuyele kubude bawo bangempela lapho kukhululwa ingcindezi.Zinezakhiwo ezifana nezintambo zendabuko, kufaka phakathi ukuguquguquka, ububanzi obuncane nobude obude.Kodwa-ke, i-AMF isebenza kakhulu futhi ilawulwa ngokuya ngokunyakaza namandla kunozakwabo abajwayelekile.Sigqugquzelwe intuthuko esheshayo yakamuva yendwangu ehlakaniphile, lapha sethula izindlela ezine ezinkulu zokukhiqiza izindwangu ezihlakaniphile ngokusebenzisa i-AMF kubuchwepheshe okudala bakhona bokukhiqiza izindwangu (Umfanekiso 1).
Indlela yokuqala ukuluka.Sisebenzisa ubuchwepheshe bokunitha be-weft ukuze sikhiqize indwangu elukiwe esebenzayo evuleleka ohlangothini olulodwa lapho isebenze ngomshini wokusebenza kwamanzi.Amashidi alukiwe anwebeka kakhulu futhi ayanwebeka kodwa athambekele ekuqaqambeni kalula kunamashidi alukiwe.Kuye ngendlela yokulawula, i-AMF ingenza imigqa ngayinye noma imikhiqizo ephelele.Ngaphezu kwamashidi ayisicaba, amaphethini okunitha ama-tubular nawo afanele ukwenziwa kwezakhiwo ezingenalutho ze-AMF.Indlela yesibili ukuluka, lapho sisebenzisa khona ama-AMF amabili njenge-warp kanye ne-weft ukwakha ishidi elilukiweyo elingunxande elinganwebeka ngokuzimela ngezindlela ezimbili.Amashidi alukiwe anikeza ukulawula okwengeziwe (kuzo zombili izinkomba) kunamashidi alukiwe.Siphinde futhi seluke i-AMF ngentambo yendabuko ukuze senze ishidi elilukiwe elilula elingakwazi ukuqaqa icala elilodwa kuphela.Indlela yesithathu - ukunwetshwa kwe-radial - iwuhlobo oluhlukile lwendlela yokuluka, lapho ama-AMP atholakala khona hhayi kunxande, kodwa ku-spiral, futhi imicu inikeza ukuvinjelwa kwe-radial.Kulokhu, i-braid ikhula ngokukhululekile ngaphansi kwengcindezi yokungena.Indlela yesine iwukunamathisela i-AMF eshidini lendwangu yokungenzi lutho ukuze udale ukunyakaza okugobayo kuya lapho ofisa ukuya ngakhona.Silungise kabusha ibhodi lokuphumula laba yibhodi eliphumayo elisebenzayo ngokusebenzisa i-AMF emaphethelweni ayo.Le mvelo ehlelekayo ye-AMF ivula amathuba amaningi ezakhiwo ezithambile eziphefumulelwe nge-bio lapho singaguqula khona izinto ezingenzi lutho zibe ezisebenzayo.Le ndlela ilula, ilula, futhi iyashesha, kodwa ingafaka engozini impilo ende ye-prototype.Umfundi ubhekiselwa kwezinye izindlela ezincwadini ezichaza amandla kanye nobuthakathaka bendawo ngayinye yesicubu21,33,34,35.
Imicu eminingi noma izintambo ezisetshenziselwa ukwenza izindwangu zendabuko ziqukethe izakhiwo ezingenzi lutho.Kulo msebenzi, sisebenzisa i-AMF yethu eyakhiwe ngaphambilini, engafinyelela ubude bamamitha kanye namadayamitha angaphansi kwe-submillimeter, ukuze simiselele izintambo zendwangu ezivamile ezingenzi lutho nge-AFM ukuze sakhe izindwangu ezihlakaniphile nezisebenzayo zohlu olubanzi lwezinhlelo zokusebenza.Izigaba ezilandelayo zichaza izindlela ezinemininingwane zokwenza ama-smart textile prototypes futhi zethule imisebenzi yazo eyinhloko nokuziphatha.
Senze ngesandla amajezi e-AMF amathathu sisebenzisa indlela yokuluka i-weft (Fig. 2A).Ukukhethwa kwezinto kanye nokucaciswa okuningiliziwe kwama-AMF nama-prototypes kungatholakala esigabeni Sezindlela.I-AMF ngayinye ilandela indlela emazombezombe (ebuye ibizwe ngokuthi umzila) eyenza iluphu elinganayo.Izihibe zomugqa ngamunye zihlanganiswe nezihibe zemigqa ngaphezulu nangaphansi kwazo.Amasongo ekholomu eyodwa e-perpendicular to course ahlanganiswe abe shaft.I-prototype yethu elukiwe iqukethe imigqa emithathu yemithungo eyisikhombisa (noma imithungo eyisikhombisa) emgqeni ngamunye.Amasongo angaphezulu naphansi awalungisiwe, ngakho-ke singawanamathisela ezindongeni zensimbi ezihambisanayo.Izibonelo ezinithiweyo zembulwa kalula kunezindwangu ezilukiwe ezijwayelekile ngenxa yokuqina okuphezulu kwe-AMF uma kuqhathaniswa nezintambo ezijwayelekile.Ngakho-ke, sabopha izihibe zemigqa eseduze ngezintambo ezincane ezinwebekayo.
Izinhlobonhlobo ze-smart textile prototypes ziyasetshenziswa ngokucushwa okuhlukile kwe-AMF.(A) Ishidi elinithiwe elenziwe ngama-AMF amathathu.(B) Ishidi elilukiwe eliphindwe kabili lama-AMF amabili.(C) Ishidi elilukiwe elingaqondiwe elenziwe nge-AMF kanye nentambo ye-acrylic lingathwala umthwalo ongama-500g, okuyisisindo esiphindwe izikhathi ezingu-192 (2.6g).(D) Isakhiwo esinwebeka kakhulu nge-AMF eyodwa kanye nentambo kakotini njengomkhawulo weradial.Ukucaciswa okuningiliziwe kungatholakala esigabeni Sezindlela.
Nakuba izihibe ezimazombezombe ezilukiwe zinganwebeka ezindaweni ezihlukene, ukuluka kwethu kwe-prototype kunwebeka ngokuyinhloko kuhlangothi lweluphu ngaphansi kwengcindezi ngenxa yemikhawulo lapho uhamba khona.Ukwelulwa kwe-AMF ngayinye kunomthelela ekwandiseni indawo ephelele yeshidi elilukiwe.Ngokuya ngezidingo ezithile, singakwazi ukulawula ama-AMF amathathu ngokuzimela emithonjeni emithathu ehlukene yoketshezi (Umfanekiso 2A) noma ngesikhathi esisodwa emthonjeni owodwa woketshezi ngokusebenzisa umsabalalisi woketshezi olu-1 kuya ku-3.Emkhiwaneni.I-2A ibonisa isibonelo se-prototype eluka, indawo yokuqala ekhuphuke ngo-35% ngenkathi kufakwa ingcindezi kuma-AMPs amathathu (1.2 MPa).Ngokuphawulekayo, i-AMF ifinyelela ukuphakama okuphezulu okungenani okungama-250% obude bayo bangempela49 ukuze amashidi aluniwe akwazi ukwelula ngisho nangaphezu kwezinguqulo zamanje.
Siphinde sakha amashidi e-weave aqondiswa kabili akhiwe ngama-AMF amabili sisebenzisa indlela yokuluka engenalutho (Umfanekiso 2B).I-AMF warp kanye ne-weft kuhlanganiswe ema-engeli angakwesokudla, okwenza iphethini elula ye-criss-cross.I-prototype weave yethu yahlukaniswa njengokulukwa kwethafa okulinganiselwe ngenxa yokuthi imicu eqondile neye-weft yenziwe ngosayizi ofanayo wentambo (bona isigaba Sezindlela ukuze uthole imininingwane).Ngokungafani nemicu evamile engakha ukugoqa okucijile, i-AMF esetshenzisiwe idinga indawo egobayo ethile lapho ibuyela komunye umucu wephethini yokweluka.Ngakho-ke, amashidi alukiwe enziwe nge-AMP ane-density ephansi uma kuqhathaniswa nezindwangu ezivamile ezilukiwe.I-AMF yohlobo S (ububanzi obungaphandle obungu-1.49 mm) inobubanzi obuncane bokugoba obungu-1.5 mm.Isibonelo, i-prototype weave esiyethula kulesi sihloko inephethini yochungechunge engu-7x7 lapho umgwaqo ngamunye uzinza ngefindo lentambo enwebekayo encane.Ngokusebenzisa indlela efanayo yokuluka, ungathola imicu eminingi.
Lapho i-AMF ehambisanayo ithola ukucindezela koketshezi, ishidi elilukiweyo landisa indawo yalo ku-warp noma isiqondiso se-weft.Ngakho-ke, silawule ubukhulu beshidi elilukiwe (ubude nobubanzi) ngokushintsha ngokuzimele inani lokucindezela kokungena elisetshenziswa kuma-AMP amabili.Emkhiwaneni.I-2B ibonisa i-prototype elukiweyo enwetshwe yafinyelela ku-44% wendawo yayo yoqobo ngenkathi ifaka ingcindezi ku-AMP eyodwa (1.3 MPa).Ngokusebenza kanyekanye kwengcindezi kuma-AMF amabili, indawo inyuke ngo-108%.
Senza futhi ishidi elilukiwe elihlukile elivela ku-AMF eyodwa elinezintambo eziqondile nezingama-acrylic njenge-weft (Umfanekiso 2C).Ama-AMF ahlelwe ngemigqa eyisikhombisa egosozi futhi imicu iluka le migqa yama-AMF ndawonye ukuze yakhe ishidi lendwangu elingunxande.Lesi sibonelo esilukiwe sasiminyene kunasesikuFig. 2B, ngenxa yezintambo ezithambile ze-acrylic ezazigcwalisa kalula lonke ishidi.Ngenxa yokuthi sisebenzisa i-AMF eyodwa kuphela njenge-warp, ishidi elilukiweyo linganwebeka kuphela liye ku-warp ngaphansi kwengcindezi.Umfanekiso 2C ukhombisa isibonelo se-prototype elukiwe indawo yayo yokuqala inyuka ngo-65% ngokukhuphuka kwengcindezi (1.3 MPa).Ngaphezu kwalokho, lesi siqeshana esilukiwe (isisindo esingamagremu angu-2.6) singaphakamisa umthwalo wamagremu angu-500, okuyisisindo esiphindwe izikhathi ezingu-192.
Esikhundleni sokuhlela i-AMF ngephethini elimazombezombe ukuze kwakhiwe ishidi elilukiwe elingunxande, sakha umumo oyisicaba oyisicaba we-AMF, owabe usucindezelwa ngokugqamile ngentambo kakotini ukuze kwakhiwe ishidi elilukiwe eliyindilinga (Umfanekiso 2D).Ukuqina okuphezulu kwe-AMF kunciphisa ukugcwaliswa kwayo kwesifunda esimaphakathi kakhulu sepuleti.Kodwa-ke, le padding ingenziwa ngezintambo ezinwebekayo noma izindwangu ezinwebekayo.Lapho ithola umfutho we-hydraulic, i-AMP iguqula ukunwetshwa kwayo kwe-longitudinal ibe ukunwetshwa kwe-radial yeshidi.Kuyafaneleka futhi ukuqaphela ukuthi kokubili ububanzi bangaphandle nangaphakathi bomumo ovunguzayo buyanda ngenxa yomkhawulo we-radial we-filaments.Umfanekiso we-2D ubonisa ukuthi ngomfutho we-hydraulic osetshenziswayo we-MPa engu-1, ukwakheka kweshidi eliyindilinga kunwebeka ku-25% wendawo yalo yangempela.
Sethula lapha indlela yesibili yokwenza izindwangu ezihlakaniphile lapho sinamathisela khona i-AMF ocezwini oluyisicaba lwendwangu bese siyilungisa kabusha isuka kokungenzi lutho iye esakhiweni esilawulwa ngokuqhubekayo.Umdwebo wokuklama wedrayivu yokugoba ukhonjiswe emkhiwaneni.3A, lapho i-AMP igoqwa phansi phakathi futhi inamathelwe emgqeni wendwangu engenakunwebeka (indwangu kakotini ye-muslin) kusetshenziswa itheyiphu enezinhlangothi ezimbili njengento enamathelayo.Uma sekuvaliwe, phezulu kwe-AMF kukhululekile ukunwetshwa, kuyilapho okuphansi kunqunyelwe yi-tape nendwangu, okwenza umugqa ugobe ubheke kwendwangu.Singakwazi ukuvala noma iyiphi ingxenye ye-actuator egobile noma yikuphi ngokumane sinamathisele umucu wetheyiphu kuyo.Isegimenti engasasebenzi ayikwazi ukunyakaza bese iba ingxenye yokwenziwa.
Izindwangu zihlelwa kabusha ngokunamathisela i-AMF ezindwangu zendabuko.(A) Umqondo wokuklama wedrayivu egobayo eyenziwe ngokunamathisela i-AMF egoqiwe endwangu engenakunwebeka.(B) Ukugotshwa kwesibonelo se-actuator.(C) Ukumiswa kabusha kwendwangu engunxande ibe irobhothi elisebenzayo elinemilenze emine.Indwangu ene-inelastic: ijezi likakotini.Indwangu yokwelula: i-polyester.Ukucaciswa okuningiliziwe kungatholakala esigabeni Sezindlela.
Senza ama-activator amaningi okugoba e-prototype anobude obuhlukene futhi sawacindezela ngama-hydraulics ukuze sakhe ukunyakaza okugoba (Umfanekiso 3B).Okubalulekile, i-AMF ingabekwa ngendlela eqondile noma igoqwe ukuze yakhe imicu eminingi bese inamathiselwa endwangu ukuze kwakhiwe idrayivu egobayo enenombolo efanele yezintambo.Siphinde saguqula ishidi lesicubu sokwenziwa libe yisakhiwo se-tetrapod esisebenzayo (Umfanekiso 3C), lapho sasebenzisa khona i-AMF ukuhambisa imingcele yesicubu esingenwetshiwe esingunxande (indwangu kakotini ye-muslin).I-AMP inamathiselwe kwindwangu ngocezu lwetheyiphu enamahlangothi amabili.Ingxenye emaphakathi yonqenqema ngalunye iqoshwe ukuze ibe yi-passive, kuyilapho amakhona amane ehlala esebenza.Ikhava yangaphezulu yendwangu yokwelula (i-polyester) uyazikhethela.Amakhona amane endwangu egoba (ibukeka njengemilenze) uma icindezelwe.
Sakhe ibhentshi lokuhlola ukuze sifunde ngobuningi izici zezindwangu ezihlakaniphile ezithuthukisiwe (bona isigaba Sezindlela kanye Nomfanekiso Owengeziwe S1).Njengoba wonke amasampula enziwe nge-AMF, ukuthambekela okujwayelekile kwemiphumela yokuhlola (Fig. 4) kuhambisana nezici eziyinhloko ze-AMF, okungukuthi, ingcindezi yokungena ilingana ngokuqondile nokwelulwa kwe-outlet futhi ihambisana ngokuphambene namandla okucindezela.Nokho, lezi zindwangu ezihlakaniphile zinezici eziyingqayizivele ezibonisa ukucushwa kwazo okuqondile.
Ifaka ukulungiselelwa kwendwangu ehlakaniphile.(A, B) Amajika e-Hysteresis okucindezela kokungena kanye nokwelula kokuphuma nokuphoqelela amashidi alukiwe.(C) Ukunwetshwa kwendawo yeshidi elilukiweyo.(D,E) Ubudlelwano phakathi kwengcindezi yokokufaka kanye nokwelulwa kokuphumayo kanye namandla ezingubo zokugqoka.(F) Ukunwetshwa kwendawo yezakhiwo ezinwebekayo.(G) Ama-engeli agobisayo wobude obuthathu obuhlukene bokushayela okugobayo.
I-AMF ngayinye yeshidi elilukiweyo yayingaphansi kwengcindezi yokungena ye-1 MPa ukuze ikhiqize cishe u-30% we-elongation (Fig. 4A).Sikhethe lo mkhawulo waso sonke isilingo ngezizathu ezimbalwa: (1) ukudala ubude obubalulekile (cishe u-30%) ukuze sigcizelele amajika awo e-hysteresis, (2) ukuvimbela ukuhamba ngebhayisikili kusukela ekuhlolweni okuhlukile kanye nezibonelo ezisebenzisekayo kabusha eziholela ekulimaleni kwengozi noma ukwehluleka..ngaphansi kwengcindezi ephezulu yamanzi.Indawo efile ibonakala ngokucacile, futhi i-braid ihlala inganyakazi kuze kube yilapho ingcindezi yokungena ifinyelela ku-0.3 MPa.Isakhiwo se-hysteresis se-pressure elongation sibonisa igebe elikhulu phakathi kwezigaba zokumpompa nokukhulula, okubonisa ukuthi kukhona ukulahlekelwa okukhulu kwamandla lapho ishidi elilukiweyo lishintsha ukunyakaza kwalo kusuka ekwandeni kuya ekufinyezweni.(Umdwebo 4A).Ngemva kokuthola ukucindezela kokungena kwe-MPa engu-1, ishidi elilukiweyo lingase libe namandla okunciphisa ama-5.6 N (Fig. 4B).Isakhiwo se-pressure-force hysteresis futhi sibonisa ukuthi ijika lokusetha kabusha licishe lidlulele nejika lokwakha ingcindezi.Ukunwetshwa kwendawo yeshidi elilukiweyo kuncike enanini lokucindezela elisetshenziswa ku-AMF ngayinye emibili, njengoba kukhonjisiwe ku-3D surface plot (Figure 4C).Ukuhlola futhi kubonisa ukuthi ishidi elilukiweyo lingakhiqiza ukunwetshwa kwendawo okungama-66% lapho ama-AMF e-warp kanye ne-weft ngesikhathi esisodwa engaphansi kwengcindezi ye-hydraulic engu-1 MPa.
Imiphumela yokuhlola yeshidi elilukiweyo libonisa iphethini efanayo neshidi elilukiweyo, okuhlanganisa igebe elibanzi le-hysteresis kumdwebo we-tension-pressure kanye namajika agqagqene we-pressure-force.Ishidi elilukiwe libonisa ukuphakama kwe-30%, ngemva kwalokho amandla okucindezela abe ngu-9 N ekucindezelweni kwe-inlet ye-1 MPa (Fig. 4D, E).
Endabeni yeshidi elilukiwe eliyindilinga, indawo yalo yokuqala yanda ngo-25% uma kuqhathaniswa nendawo yokuqala ngemva kokuchayeka ekucindezelweni kwamanzi kwe-1 MPa (Fig. 4F).Ngaphambi kokuthi isampula iqale ukwanda, kukhona indawo efile yokucindezela kwe-inlet kufika ku-0.7 MPa.Le ndawo enkulu efile bekulindeleke njengoba amasampula enziwa kuma-AMF amakhulu ayedinga izingcindezi eziphakeme ukuze banqobe ukucindezeleka kwabo kokuqala.Emkhiwaneni.I-4F iphinde ibonise ukuthi ijika lokukhululwa licishe lihambisane nejika lokukhuphuka kwengcindezi, okubonisa ukulahlekelwa amandla okuncane lapho ukunyakaza kwediski kushintshwa.
Imiphumela yokuhlola yama-actuator amathathu agobayo (ukulungiswa kabusha kwezicubu) ibonisa ukuthi amajika awo e-hysteresis anephethini efanayo (Umfanekiso 4G), lapho ehlangabezana nendawo efile yokucindezela kwe-inlet efika ku-0.2 MPa ngaphambi kokuphakanyiswa.Sisebenzise umthamo ofanayo woketshezi (0.035 ml) kumadrayivu amathathu okugoba (L20, L30 kanye ne-L50 mm).Kodwa-ke, i-actuator ngayinye ihlangabezane neziqongo zengcindezi ehlukene futhi yathuthukisa ama-engeli ahlukene okugoba.Ama-actuator e-L20 kanye ne-L30 mm ahlangabezane nengcindezi yokungena engu-0.72 no-0.67 MPa, efinyelela kuma-engeli agobile angu-167° no-194° ngokulandelana.Idrayivu yokugoba ende kunazo zonke (ubude obungu-50 mm) imelane nengcindezi engu-0.61 MPa futhi yafinyelela ku-engeli yokugoba ephezulu engu-236°.Iziqephu ze-engeli ye-pressure hysteresis nazo zembula izikhala ezinkulu phakathi kokucindezela nokukhulula amajika awo wonke amadrayivu okugoba amathathu.
Ubudlelwano phakathi kwevolumu yokufaka kanye nezakhiwo eziphumayo (ubude, amandla, ukunwetshwa kwendawo, i-engeli egobayo) ekucushweni kwendwangu ehlakaniphile engenhla bungatholakala ku-Supplementary Figure S2.
Imiphumela yokuhlola esigabeni sangaphambilini ikhombisa ngokusobala ubudlelwano obulinganayo phakathi kwengcindezi yokungena esetshenziswayo kanye nokwelulwa kokuphuma kwamasampula e-AMF.Lapho i-AMB iqina, kulapho ikhula khona ukunwetshwa kwayo namandla anwebekayo engeziwe.Ngakho-ke, lapho iba namandla amakhulu okucindezela.Imiphumela iphinde yabonisa ukuthi ama-specimens afinyelela amandla awo aphezulu okucindezela lapho ukucindezela kokungena kukhishwe ngokuphelele.Lesi sigaba sihlose ukusungula ubudlelwano obuqondile phakathi kokwelula kanye namandla amakhulu okuncipha kwamashidi alukiweyo nalukiwe ngokusebenzisa imodeli yokuhlaziya nokuqinisekisa kokuhlola.
Amandla enkontileka aphezulu we-Fout (engcindezini ye-inlet P = 0) ye-AMF eyodwa anikezwe ku-ref 49 futhi aphinde afakwa ngale ndlela elandelayo:
Phakathi kwazo, u-α, E, kanye no-A0 yisici esinwebekayo, i-Young's modulus, kanye nendawo enqamula ingxenye yeshubhu ye-silicone, ngokulandelana;k yi-coefficient yokuqina kwekhoyili evunguzayo;x kanye ne-li ahlanganiswe kanye nobude bokuqala.AMP, ngokulandelana.
isibalo esifanele.(1) Thatha amashidi ezinithiwe futhi alukiwe njengesibonelo (Fig. 5A, B).Amandla okuncipha omkhiqizo othungiwe we-Fkv kanye nomkhiqizo olukiweyo othi Fwh kuvezwa ngezibalo (2) kanye (3), ngokulandelanayo.
lapho i-mk iyinombolo yezihibe, u-φp i-loop angle yendwangu elukiwe ngesikhathi sokujova (Umfanekiso 5A), i-mh inombolo yezintambo, i-θhp i-engeli yokubandakanya yendwangu ephothiwe ngesikhathi sokujova (Fig. 5B), εkv εwh yishidi elilukiwe kanye nokwakheka kweshidi elilukiweyo, F0 ukushuba kokuqala kwekhoyili elivunguzayo.Ukutholwa okuningiliziwe kwesibalo.(2) kanye (3) zingatholakala olwazini olusekelayo.
Dala imodeli yokuhlaziya yobudlelwano be-elongation-force.(A,B) Imifanekiso yemodeli yokuhlaziya yamashidi alukiweyo nalukiweyo, ngokulandelanayo.(C,D) Ukuqhathaniswa kwamamodeli okuhlaziya nedatha yokuhlola yamashidi alukiwe nalukiwe.I-RMSE Root isho iphutha lesikwele.
Ukuhlola imodeli ethuthukisiwe, senze izivivinyo zokwelula sisebenzisa amaphethini oluniwe ku-Fig. 2A namasampuli alukiweyo ku-Fig. 2B.Amandla okufinyeza akalwe ngokunyuka okungu-5% kusandiso ngasinye esikhiyiwe ukusuka ku-0% kuya ku-50%.Ukuchezuka okumaphakathi nokujwayelekile kwezivivinyo ezinhlanu kuvezwa kuMfanekiso 5C (okunithiwe) kanye noMfanekiso 5D (okunithiwe).Amajika emodeli yokuhlaziya achazwa ngezibalo.Amapharamitha (2) kanye (3) anikezwe kuThebula.1. Imiphumela ibonisa ukuthi imodeli yokuhlaziya ivumelana kahle nedatha yokuhlola kulo lonke ibanga lokwelula elinephutha lempande eliyisikwele (RMSE) lika-0.34 N lezingubo eziluka, 0.21 N ze-AMF H ezilukiwe (isiqondiso esivundlile) kanye no-0.17 N okwelukiwe i-AMF.V (isiqondiso esiqondile).
Ngaphezu kokunyakaza okuyisisekelo, izindwangu ezihlakaniphile ezihlongozwayo zingahle zihlelwe ukuze zinikeze ukunyakaza okuyinkimbinkimbi okufana ne-S-bend, ukufinyela kwe-radial, kanye ne-2D kuya ku-3D deformation.Sethula lapha izindlela ezimbalwa zokuhlela izindwangu ezihlakaniphile eziyisicaba zibe izakhiwo ezifiselekayo.
Ngaphezu kokwandisa isizinda ekuqondeni komugqa, amashidi alukiweyo angaqondisiwe angahlelwa ngomshini ukuze enze ukunyakaza kwe-multimodal (Fig. 6A).Silungisa kabusha ukunwetshwa kweshidi elilukiwe njengomnyakazo wokugoba, sibopha ubuso balo obubodwa (phezulu noma phansi) ngentambo yokuthunga.Amashidi avame ukugoba abheke endaweni ebophayo ngaphansi kwengcindezi.Emkhiwaneni.I-6A ikhombisa izibonelo ezimbili zamaphaneli alukiwe amise okwe-S uma uhhafu uminyene ohlangothini olungaphezulu kanti omunye uminyene ohlangothini olungezansi.Ngaphandle kwalokho, ungakha ukunyakaza okugobayo okuyindilinga lapho kuphela ubuso bonke bubambezelekile.Ishidi eliboshwe nge-unidirectional lingenziwa futhi libe umkhono wokucindezela ngokuxhuma iziphetho zalo ezimbili zibe isakhiwo se-tubular (Fig. 6B).Umkhono ugqokwa phezu komunwe wokukhomba womuntu ukuze unikeze ukucindezela, uhlobo lokwelapha lokubhucunga ukuze kudambise ubuhlungu noma ukuthuthukisa ukujikeleza kwegazi.Ingalinganiswa ukuze ilingane nezinye izitho zomzimba njengezingalo, izinqulu, nemilenze.
Ikhono eluka amashidi ohlangothini olulodwa.(A) Ukudalwa kwezakhiwo ezikhubazekile ngenxa yokuhleleka komumo wezintambo zokuthunga.(B) Umkhono wokucindezela iminwe.(C) Enye inguqulo yeshidi elilukiwe kanye nokusetshenziswa kwalo njengomkhono wokuminyanisa umphambili wengalo.(D) Esinye isibonelo semikhono yokuminyanisa eyenziwe ngohlobo lwe-AMF M, intambo ye-acrylic namabhande e-Velcro.Ukucaciswa okuningiliziwe kungatholakala esigabeni Sezindlela.
Umfanekiso 6C ubonisa esinye isibonelo seshidi elilukiwe elingaqondiwe elenziwe ngentambo eyodwa ye-AMF kanye nekotini.Ishidi lingakhula ngo-45% endaweni (ku-1.2 MPa) noma libangele ukunyakaza okuyisiyingi ngaphansi kwengcindezi.Siphinde sahlanganisa ishidi ukuze sakhe umkhono wokucindezela umphambili ngokunamathisela amabhande kazibuthe ekugcineni kweshidi.Omunye umkhono wokuminyanisa umphambili we-prototype uboniswa ku-Fig. 6D, lapho amashidi alukwe unidirectional enziwa kusukela ku-Type M AMF (bona Izindlela) kanye nezintambo ze-acrylic ukuze kukhiqizwe amandla anamandla okucindezela.Sihlomise amaphethelo amashidi ngamabhande e-Velcro ukuze anamathisele kalula kanye nosayizi abahlukene bezandla.
Indlela yokuvimbela, eguqula isandiso somugqa sibe umnyakazo ogobayo, iyasebenza nakumashidi alukiwe aqondiswa kabili.Siluka izintambo zikakotini ohlangothini olulodwa lwe-warp kanye namashidi alukiweyo we-weft ukuze angandi (Fig. 7A).Ngakho-ke, lapho ama-AMF amabili ethola umfutho we-hydraulic ngaphandle komunye nomunye, ishidi ligoba i-bi-directional ukuze lenze isakhiwo esinezinhlangothi ezintathu esingenamthetho.Ngenye indlela, sisebenzisa izintambo ezingenwetshiwe ukuze sinciphise isiqondiso esisodwa samashidi alukiwe aqondiswa kabili (Umfanekiso 7B).Ngakho-ke, ishidi lingenza ukunyakaza okuzimele nokwelula lapho i-AMF ehambisanayo ingaphansi kwengcindezi.Emkhiwaneni.I-7B ibonisa isibonelo lapho ishidi eliboshwe ngezinhlangothi ezimbili lilawulwa ukuze ligoqe izingxenye ezimbili kwezintathu zomunwe womuntu ngomnyakazo ogobayo bese lelula ubude balo ukuze limboze lonke elisele ngokunyakaza okunwebekayo.Ukunyakaza okubili kwamashidi kungaba usizo ekwakhiweni kwemfashini noma ekuthuthukisweni kwezingubo ezihlakaniphile.
Ishidi elilukiwe elinezinhlangothi ezimbili, ishidi elinithiwe kanye nekhono lokuklama elinwebeka kakhulu.(A) Amaphaneli ewicker ahambisana ne-bi-directional ukuze adale ukugoba kwe-bi-directional.(B) Amaphaneli ezintambo ezinezinhlangothi ezimbili abambezeleke ngendlela engafani akhiqiza ukuguquguquka nokunwebeka.(C) Ishidi elinithiwe elinwebeka kakhulu, elingafanelana nokugoba okuhlukile futhi lenze nezakhiwo zamashubhu.(D) ukunqunywa komugqa omaphakathi wesakhiwo esinwebekayo esikhulu esenza umumo we-hyperbolic parabolic (amashidi amazambane).
Sixhume izihibe ezimbili eziseduze zemigqa engenhla nengezansi yengxenye eboshwe ngentambo yokuthunga ukuze ingaqaqeki (Fig. 7C).Ngakho-ke, ishidi elilukiweyo livumelana nezimo ngokugcwele futhi livumelana kahle namajika angaphezulu ahlukahlukene, njengesikhumba sezandla nezingalo zomuntu.Siphinde sakha isakhiwo se-tubular (umkhono) ngokuxhuma iziphetho zengxenye ehlanganisiwe ekuqondeni kokuhamba.Umkhono ugoqa kahle umunwe wokukhomba womuntu (Fig. 7C).I-sinuosity yendwangu elukiwe inikeza ukulingana okuhle kakhulu nokukhubazeka, okwenza kube lula ukusetshenziselwa ukugqoka okuhlakaniphile (amagilavu, imikhono yokucindezela), ukuhlinzeka ngenduduzo (ngokufaneleka) kanye nomphumela wokwelapha (ngokucindezela).
Ngokungeziwe ekunwebeni kwe-radial ye-2D ezindaweni eziningi, amashidi ayindilinga alukiwe angahlelwa ukuze akhe izakhiwo ze-3D.Sikhawulele umugqa omaphakathi womluko oyindilinga ngentambo ye-acrylic ukuze uphazamise ukunwetshwa kwawo okulinganayo kweradial.Ngenxa yalokho, umumo oyisicaba wokuqala weshidi elilukiwe eliyindilinga laguqulwa laba yisimo se-hyperbolic parabolic (noma ama-chips amazambane) ngemuva kokucindezela (Fig. 7D).Leli khono lokushintsha umumo lingase lisetshenziswe njengendlela yokuphakamisa, ilensi yokubona, imilenze yerobhothi ehambayo, noma lingaba usizo ekwakhiweni kwemfashini namarobhothi e-bionic.
Senze indlela elula yokwenza amadrayivu aguquguqukayo ngokunamathisela i-AMF emgqeni wendwangu enganwetshiwe (Umfanekiso 3).Sisebenzisa lo mqondo ukuze sakhe imicu ehlelekayo lapho singasabalalisa khona izingxenye eziningi ezisebenzayo nezingenzi lutho ku-AMF eyodwa ukuze sakhe umumo esifunekayo.Sakha futhi sahlela imicu emine esebenzayo engashintsha umumo wayo ukusuka kokuqondile kuye kohlamvu (UNSW) njengoba ingcindezi yanda (I-Supplementary Fig. S4).Le ndlela elula ivumela ukukhubazeka kwe-AMF ukuthi iguqule imigqa ye-1D ibe yizimo ze-2D futhi mhlawumbe nezakhiwo ze-3D.
Ngendlela efanayo, sasebenzisa i-AMF eyodwa ukuze silungise kabusha ucezu lwesicubu esivamile sibe yi-tetrapod esebenzayo (Fig. 8A).Imiqondo yomzila neyohlelo iyafana naleyo ekhonjiswe kuMfanekiso 3C.Kodwa-ke, esikhundleni samashidi angama-rectangular, baqala ukusebenzisa izindwangu ngephethini ye-quadrupedal (ufudu, ukotini muslin).Ngakho-ke, imilenze yinde futhi isakhiwo singaphakanyiswa phezulu.Ukuphakama kwesakhiwo kukhula kancane kancane ngaphansi kwengcindezi kuze kube yilapho imilenze yayo i-perpendicular phansi.Uma ukucindezela kwe-inlet kuqhubeka nokukhuphuka, imilenze izogoba ngaphakathi, yehlise ukuphakama kwesakhiwo.Ama-Tetrapod angenza i-locomotion uma imilenze yawo ifakwe amaphethini ahlukene noma isebenzisa ama-AMF amaningi anamasu okukhohlisa ukunyakaza.Amarobhothi ahamba kancane ayadingeka ukuze enze imisebenzi eyahlukene, okuhlanganisa ukuhlenga emililo yequbula, izakhiwo eziwile noma izindawo eziyingozi, namarobhothi okulethwa kwezidakamizwa zezokwelapha.
Indwangu ihlelwa kabusha ukuze idale izakhiwo ezishintshashintshayo.(A) Namathisela i-AMF emngceleni weshidi lendwangu yokwenziwa, uliguqule libe isakhiwo esiqondisayo esinemilenze emine.(BD) Ezinye izibonelo ezimbili zokulungiswa kabusha kwezicubu, ukushintsha izimvemvane nezimbali zibe ezisebenzayo.Indwangu enganwetshiwe: i-cotton muslin engenalutho.
Siphinde futhi sisebenzisane ngokuba lula nokuguquguquka kwale nqubo yokulungiswa kabusha kwezicubu ngokwethula izakhiwo ezimbili ezengeziwe ze-bioinspired zokubunjwa kabusha (Izibalo 8B-D).Nge-AMF eshintshekayo, lezi zakhiwo ezikhubazekayo zilungiswa kabusha ukusuka kumashidi wezicubu ezingenzi lutho kuye ezakhiweni ezisebenzayo nezikwazi ukulawuleka.Sigqugquzelwa uvemvane i-monarch, senza isakhiwo sovemvane esishintshayo sisebenzisa ucezu lwendwangu emise okwemvemvane (cotton muslin) kanye nocezu olude lwe-AMF olunamathele ngaphansi kwamaphiko alo.Lapho i-AMF ingaphansi kwengcindezi, amaphiko ayagoqa.NjengoBhavane iMonarch, izimpiko zeButterfly Robot kwesokunxele nakwesokudla zibhakuza ngendlela efanayo ngoba zombili zilawulwa yi-AMF.Ama-butterfly flap enzelwe izinjongo zokubonisa kuphela.Ayikwazi ukundiza njenge-Smart Bird (Festo Corp., USA).Senza nembali yendwangu (Umfanekiso 8D) ehlanganisa izingqimba ezimbili zamacembe amahlanu lilinye.Sibeka i-AMF ngaphansi kwesendlalelo ngasinye ngemuva konqenqema lwangaphandle lwamacembe.Ekuqaleni, izimbali ziqhakaza ngokugcwele, futhi wonke amacembe avuleke ngokugcwele.Ngaphansi kwengcindezi, i-AMF ibangela ukugoba kwamacembe, okuwenza avale.Ama-AMF amabili alawula ngokuzimela ukunyakaza kwezingqimba ezimbili, kuyilapho amacembe amahlanu ongqimba olulodwa ejika ngesikhathi esisodwa.
Isikhathi sokuthumela: Dec-26-2022