Design And Research On Multi-layer Elastic Nested Catapult Robot Inspired By Chameleon Tongue

The catapult robot inspired by chameleon tongue is a bionic robot that mimics the high-speed ejection of the chameleon tongue during predation.As a new research field,the technology has Wide application prospects and can be applied to fields such as logistics sorting,environmental protection,agriculture and military drones.This paper systematically designs an elastic nested bionic ejection robot system for improving the operating speed of traditional structured robots.After understanding the physiological structure of the chameleon tongue and its high-speed ejection mechanism from the perspective of biomechanics and elastoplastic mechanics,the mathematical and physical model of a kind of ejection mechanism inspired by the chameleon tongue is established,and the dynamic simulation analysis is carried out according to the model;a kind of innovative prototype and its drive control scheme are designed and tested.Through the simulation analysis and prototype test of the bionic model,the scientific problem:the three-dimensional modeling and structural optimization design of the key mechanism of the bionic ejection robot,the multi-unit elastic nested coupling dynamic characteristics and the multi-element elastic nested coupling drive control,were studied in depth.Firstly,the biological movement mechanism of the chameleon tongue in the predation process is elaborated.According to the morphological changes of the physiological structures of the chameleon tongue during the capture of prey,the movement mechanism and function of each physiological structure were analyzed.Dynamics is used to analyze the driving force required for high-speed ejection of the chameleon tongue,and a dynamics model of the tongue ejection motion is established.Inspired by the dynamic characteristics of the chameleon tongue ejection movement,innovatively,a kind of bionic ejection mechanism based on a multi-unit elastomer nesting structure is established,and the mathematical model and physical model of the bionic ejection mechanism are established.Its mathematical analysis and 3D dynamic simulation analysis show that the design of the bionic ejection mechanism is feasible.Then,based on the model design of the bionic ejection mechanism,a prototype of a centimeter-scale bionic ejection robot capable of simulating the high-speed ejection movement of the chameleon tongue is developed.The simulation and experimental research on this prototype of the bionic ejection robot are carried out,which realizes the imitation of high-speed ejection of the chameleon tongue.In order to imitate the retracting function of the chameleon tongue and consider the scale effect of the bionic ejection robot,a decimeter-level bionic ejection-contraction robot integrating the ejection and contraction functions is designed and fabricated,and this bionic ejection-contraction robot were verified by the ejection test,which achieves the desired combination of ejection and recycling.According to the test result data of the prototype,the coupling dynamic characteristics between each nested ejection unit were comprehensively analyzed,and the overlap ratio theory of the potential energy release time stored by adjacent nested units is proposed to evaluate the possibility of collision impact happening among the nested units.Finally,aiming at the structural optimization of the key mechanism of the bionic ejection-contraction robot and the multi-unit elastic nested coupling drive control problem,the optimal design of the bionic ejection-contraction robot is carried out.The dynamics simulation analysis of the optimized mechanism inspired by chameleon tongue was carried out by applying ADAMS software to verify the optimized dynamic characteristics.The prototype was produced according to the optimized prototype version,and after prototyping the ejection tests of two dependent variables was completed,Further obtaining test conclusions.