中华绒螯蟹平面运动三维观测和动力学分析  

Three-dimensional observation and dynamics analysis of Chinese mitten crab’s locomotion on smooth terrain

作　　者：张晓冬[1] 李建桥[1] 邹猛[1] 张锐[1] 李因武[1] 

机构地区：[1]吉林大学工程仿生教育部重点实验室,长春130022

出　　处：《农业工程学报》2013年第17期30-37,共8页Transactions of the Chinese Society of Agricultural Engineering

基　　金：国家自然科学基金资助项目(50875107);国家高技术研究发展计划(863计划)资助项目(2010AA101401-3)

摘　　要：为给适应复杂路面的多足仿生机器人或步行移动平台的研究提供理论依据,该文以中华绒螯蟹为研究对象,使用三维运动图像采集系统采集其运动图像,并使用三维运动图像分析系统得到中华绒螯蟹质心的运动学参数,分析结果表明:中华绒螯蟹在平面运动时主要使用跳跃步态;质心动能、重力势能以及总机械能呈正弦波动,动能与重力势能同相;使用恢复系数表示动能和重力势能相互转换的效率,其平均值为31.73%±17.29%,恢复系数和平均速率没有相关关系;质心机械能比质量功率随平均速率的增长呈线性增加;质心水平动能比质量功率和重力势能比质量功率对中华绒螯蟹身体的加速和抬升起主要作用。该研究可为研究适应复杂路面的仿生机器人或移动平台提供理论依据。Some types of arthropods can go through rugged terrains high-efficiently and stably, which gives us innovative ideas and adequate theories for designing bionic legged-robots or mobile platforms. Therefore, the biomechanics analysis of legged-animals during their locomotion on a terrain is highly significant in many biological or biorobotics disciplines. The locomotion mechanism of the Chinese mitten crab, which originated from the Far East and predominantly lived along rocky shores or in freshwater, as a typical arthropod, was studied using the experimental methods of biomechanics. In the present study, 30 tested Chinese mitten crabs （Eriocheir sinensis Milne-Edwards） were collected from Yangcheng Lake in China. The body mass of the crabs was measured with an electronic balance （accuracy=0.001 g） and the location of the center of mass on the dorsal carapace for each crab was determined with a suspended test. In order to capture the video images of the movements of Chinese mitten crabs’ locomotion on a smooth terrain, we designed a high speed 3-D （three-dimension） including four high-speed cameras with recording speed of 120 frames/s and a resolution of 640 pixel×480 pixel, four LED video lights with a color temperature of （5500±200） K, a flash light to produce a flash signal which was captured simultaneously by four high-speed cameras as the starting point to analyze the video images in the motion analysis system, and a 0.6 m×0.4 m×0.2 m calibration frame with 16 non-linear points that approximately filled the overlapping region of the four cameras before the experiments. Frame-by-frame analysis of the motion video images was performed using a SIMI-motion analysis system and all kinematic parameters of the center of mass could be obtained from the analysis system directly. The typical variables, such as mechanical energy, the shift phase between the undulations in kinetic energy and gravitational potential energy, percentage recovery, and mass-specific rate of the mechanical power of the cen

关 键 词：仿生学 机器人 动力学 中华绒螯蟹 质心 机械能 

分 类 号：Q811.6[生物学—生物工程]