Dynamics and design of passive tails for enhanced stability of motion.

IF 3.1 3区计算机科学 Q1 ENGINEERING, MULTIDISCIPLINARY

Bioinspiration & Biomimetics Pub Date : 2025-06-06 DOI:10.1088/1748-3190/addc24

Hang Shu, Yucong Hua, Weijian Jiao, Jordan R Raney

引用次数: 0

Abstract

In this work, we study the nonlinear dynamics of tail motion using numerical simulations and experiments. Our simulations are based on a discrete model comprising rigid cylinders (representing vertebrae) coupled by longitudinal, shear, and bending springs (representing tissues). We consider how various parameter combinations, such as geometric and stiffness gradients in the tail, affect the dynamic response of tails subjected to impulse loading. Using numerical and experimental approaches, we quantify pulse propagation in tails, demonstrating that flexible tails can support a stable wavefront. By incorporating a gradient that gradually decreases the length of each vertebra (geometric gradient) and the stiffness of its connecting tissues (stiffness gradient), we significantly enhance the lateral displacement and velocity of the propagating pulse towards the tip. We show that this effect can be used to improve stability of robotic vehicles subjected to impulses.

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增强运动稳定性的被动尾的动力学和设计。

本文采用数值模拟和实验相结合的方法研究了尾翼运动的非线性动力学。我们的模拟基于一个离散模型，该模型包括刚性圆柱体（代表椎骨），以及纵向、剪切和弯曲弹簧（代表组织）。我们考虑了各种参数组合，如尾部的几何梯度和刚度梯度，如何影响尾部在脉冲加载下的动态响应。利用数值和实验方法，我们量化了脉冲在尾端的传播，证明了柔性尾端可以支持稳定的波前。通过加入逐渐减小每个椎体长度（几何梯度）及其连接组织的刚度（刚度梯度）的梯度，我们显着增强了向尖端传播的脉冲的横向位移和速度。我们表明，这种效应可以用来提高机器人车辆在脉冲作用下的稳定性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Bioinspiration & Biomimetics 工程技术-材料科学：生物材料

CiteScore

5.90

自引率

14.70%

发文量

132

审稿时长

3 months

期刊介绍： Bioinspiration & Biomimetics publishes research involving the study and distillation of principles and functions found in biological systems that have been developed through evolution, and application of this knowledge to produce novel and exciting basic technologies and new approaches to solving scientific problems. It provides a forum for interdisciplinary research which acts as a pipeline, facilitating the two-way flow of ideas and understanding between the extensive bodies of knowledge of the different disciplines. It has two principal aims: to draw on biology to enrich engineering and to draw from engineering to enrich biology. The journal aims to include input from across all intersecting areas of both fields. In biology, this would include work in all fields from physiology to ecology, with either zoological or botanical focus. In engineering, this would include both design and practical application of biomimetic or bioinspired devices and systems. Typical areas of interest include: Systems, designs and structure Communication and navigation Cooperative behaviour Self-organizing biological systems Self-healing and self-assembly Aerial locomotion and aerospace applications of biomimetics Biomorphic surface and subsurface systems Marine dynamics: swimming and underwater dynamics Applications of novel materials Biomechanics; including movement, locomotion, fluidics Cellular behaviour Sensors and senses Biomimetic or bioinformed approaches to geological exploration.