简介：Thispaperpresentsakinematicanalysisofthelocomotionofagecko,andexperimentalverificationofthekinematicmodel.Kinematicanalysisisimportantforparameterdesign,dynamicanalysis,andoptimizationinbiomimeticrobotresearch.Theproposedkinematicanalysiscansimulate,withoutiteration,thelocomotionofgeckosatisfyingtheconstraintconditionsthatmaintainthepositionofthecontactedfeetonthesurface.Sothemethodhasanadvantageforanalyzingtheclimbingmotionofthequadrupedmechanisminarealtimeapplication.Thekinematicmodelofageckoconsistsoffourlegsbasedon7-degreesoffreedomspherical-revolute-sphericaljointsandtworevolutejointsinthewaist.Themotionofthekinematicmodelissimulatedbasedonmeasurementdataofeachjoint.Themotionofthekinematicmodelsimulatestheinvestigatedrealgecko’smotionbyusingtheexperimentalresults.Theanalysissolvestheforwardkinematicsbyconsideringthemodelasacombinationofclosedandopenserialmechanismsundertheconditionthatmaintainsthecontactpositionsoftheattachedfeetontheground.Themotionsofeachjointarevalidatedbycomparingwiththeexperimentalresults.Inadditiontothemeasuredgait,threeothergaitsaresimulatedbasedonthekinematicmodel.Themaximumstridesofeachgaitarecalculatedbyworkspaceanalysis.Theresultcanbeusedinbiomimeticrobotdesignandmotionplanning.

简介：IonicPolymer-MetalComposite(IPMC)canworkasanactuatorbyapplyingafewvoltages.AthickIPMCactuator,whereNafion-117membranewassynthesizedwithpolypyrrole/aluminacompositefiller,wasanalyzedtoverifytheequivalentbeamandequivalentbimorphbeammodels.TheblockingforceandtipdisplacementoftheIPMCactuatorweremeasuredwithaDCpowersupplyandYoung’smodulusoftheIPMCstripwasmeasuredbybendingandtensiletestsrespectively.ThecalculatedmaximumtipdisplacementandtheYoung’smodulusbytheequivalentbeammodelwerealmostidenticaltothecorrespondingmeasureddata.Finiteelementanalysiswiththermalanalogytechniquewasutilizedintheequivalentbimorphbeammodeltonumericallyreproducetheforce-displacementrelationshipoftheIPMCactuator.Theresultsbytheequivalentbimorphbeammodelagreedwellwiththeforce-displacementrelationshipacquiredbythemeasureddata.Itisconfirmedthattheequivalentbeamandequivalentbimorphbeammodelsarepracticallyandeffectivelysuitableforpredictingthetipdisplacement,blockingforceandYoung’smodulusofIPMCactuatorswithdifferentthicknessanddifferentcompositeofionicpolymermembrane.

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