RT info:eu-repo/semantics/article
T1 Experimental study and geometrical method to design bio-inspired robotic kinematic chains of inching-locomotion caterpillars
A1 Cornejo, José
A1 Sierra Garcia, Jesús Enrique
A1 Gómez Gil, Francisco Javier
A1 Grados, Juan
A1 Palomares, Ricardo
A1 Weitzenfeld, Alfredo
K1 Biomimetic
K1 Bio-inspired robot
K1 Engineering design
K1 Robot kinematics
K1 Inching-locomotion caterpillar
K1 Arthropod animals
K1 Ingeniería eléctrica
K1 Electric engineering
K1 Ingeniería mecánica
K1 Mechanical engineering
AB Inching-locomotion caterpillars (ILAR) show impressive environmental adaptation, having high dexterity and flexibility. To design robots that mimic these abilities, a novel Bioinspired Robotic Design (BIROD) method is presented. The method is composed by an algorithm for Geometrical Kinematic Analysis (GEKINS) to standardize the proportional dimensions according to the insect’s anatomy and obtain the kinematic chains. The approach is experimentally applied to analyze the locomotion and kinematic chain of these specimens: Geometridae – 2 pair of prolegs (represents 35,000 species) and Plusiinae – 3 pair of prolegs (represents 400 species). The obtained data indicate that the application of the proposed method permits to locate the attachment mechanisms, joints, links, and to calculate angular displacement, angular average velocity, number of degrees of freedom, and thus the kinematic chain. Geometridae in contrast to Plusiinae, shows a longer Walk-Stride Length (WSL), a lower number of single-rotational joints in 2-D (3 DOF versus 4 DOF), and a lower number of dual-rotational joints in 3-D (6 DOF versus 8 DOF). The application of BIROD and GEKINS provides the forward kinematics for 35,400 ILAR species and are expected to be useful as a preliminary phase for the design of bio-inspired arthropod robots.
PB IOP Publishing
SN 1748-3182
YR 2024
FD 2024-01
LK http://hdl.handle.net/10259/8411
UL http://hdl.handle.net/10259/8411
LA eng
DS Repositorio Institucional de la Universidad de Burgos
RD 09-may-2024