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Jiang X, Yang J, Zeng L, Huang C. A Spider-Joint-like Bionic Actuator with an Approximately Triangular Prism Shape. Biomimetics (Basel) 2023; 8:299. [PMID: 37504187 PMCID: PMC10807400 DOI: 10.3390/biomimetics8030299] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/09/2023] [Revised: 07/01/2023] [Accepted: 07/06/2023] [Indexed: 07/29/2023] Open
Abstract
The unique drive principle and strong manipulation ability of spider legs have led to several bionic robot designs. However, some parameters of bionic actuators still need to be improved, such as torque. Inspired by the hydraulic drive principle of spider legs, this paper describes the design of a bionic actuator characterized by the use of air pressure on each surface and its transmittance in the direction of movement, achieving a torque amplification effect. The produced torque is as high as 4.78 N m. In addition, its torque characteristics during folding motions are similar to those during unfolding motions, showing that the bionic actuator has stable bidirectional drive capability.
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Affiliation(s)
- Xiaomao Jiang
- College of Engineering and Design, Hunan Normal University, Changsha 410081, China; (X.J.); (C.H.)
| | - Jun Yang
- College of Engineering and Design, Hunan Normal University, Changsha 410081, China; (X.J.); (C.H.)
| | - Le Zeng
- Department of Aviation Machinery Manufacturing, Changsha Aeronautical Vocational and Technical College, Changsha 410124, China;
| | - Changyang Huang
- College of Engineering and Design, Hunan Normal University, Changsha 410081, China; (X.J.); (C.H.)
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Yap TF, Liu Z, Rajappan A, Shimokusu TJ, Preston DJ. Necrobotics: Biotic Materials as Ready-to-Use Actuators. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2022; 9:e2201174. [PMID: 35875913 PMCID: PMC9561765 DOI: 10.1002/advs.202201174] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 03/01/2022] [Revised: 06/07/2022] [Indexed: 06/15/2023]
Abstract
Designs perfected through evolution have informed bioinspired animal-like robots that mimic the locomotion of cheetahs and the compliance of jellyfish; biohybrid robots go a step further by incorporating living materials directly into engineered systems. Bioinspiration and biohybridization have led to new, exciting research, but humans have relied on biotic materials-non-living materials derived from living organisms-since their early ancestors wore animal hides as clothing and used bones for tools. In this work, an inanimate spider is repurposed as a ready-to-use actuator requiring only a single facile fabrication step, initiating the area of "necrobotics" in which biotic materials are used as robotic components. The unique walking mechanism of spiders-relying on hydraulic pressure rather than antagonistic muscle pairs to extend their legs-results in a necrobotic gripper that naturally resides in its closed state and can be opened by applying pressure. The necrobotic gripper is capable of grasping objects with irregular geometries and up to 130% of its own mass. Furthermore, the gripper can serve as a handheld device and innately camouflages in outdoor environments. Necrobotics can be further extended to incorporate biotic materials derived from other creatures with similar hydraulic mechanisms for locomotion and articulation.
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Affiliation(s)
- Te Faye Yap
- Department of Mechanical EngineeringRice UniversityHoustonTX77005USA
| | - Zhen Liu
- Department of Mechanical EngineeringRice UniversityHoustonTX77005USA
| | - Anoop Rajappan
- Department of Mechanical EngineeringRice UniversityHoustonTX77005USA
| | | | - Daniel J. Preston
- Department of Mechanical EngineeringRice UniversityHoustonTX77005USA
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Residori S, Greco G, Pugno NM. The mechanical characterization of the legs, fangs, and prosoma in the spider Harpactira curvipes (Pocock 1897). Sci Rep 2022; 12:13056. [PMID: 35906448 PMCID: PMC9338270 DOI: 10.1038/s41598-022-16307-y] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/27/2021] [Accepted: 07/07/2022] [Indexed: 11/09/2022] Open
Abstract
The exoskeleton of spiders is the primary structure that interacts with the external mechanical stimuli, thus playing a crucial role in spider life. In particular, fangs, legs, and prosoma are the main rigid structures of the exoskeleton and their properties must be measured to better understand their mechanical behaviours. Here we investigate, by means of nanoindentation, the mechanical properties of the external sclerotized cuticles of such parts in the spider Harpactira curvipes. Interestingly, the results show that the leg’s cuticle is stiffer than the prosoma and has a stiffness similar to the one of the tip fangs. This could be explained by the legs’ function in perceiving vibrations that could be facilitated by higher stiffness. From a broader perspective, this characterization could help to understand how the same basic material (the cuticle, i.e. mainly composed of chitin) can be tuned to achieve different mechanical functions, which improves the animal’s adaptation to specific evolutive requirements. We, thus, hope that this work stimulates further comparative analysis. Moreover, these results may also be potentially important to inspire the design of graded materials with superior mechanical properties.
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Affiliation(s)
- Sara Residori
- Laboratory for Bioinspired, Bionic, Nano, Meta Materials & Mechanics, Department of Civil, Environmental and Mechanical Engineering, University of Trento, Via Mesiano, 77, 38123, Trento, Italy
| | - Gabriele Greco
- Laboratory for Bioinspired, Bionic, Nano, Meta Materials & Mechanics, Department of Civil, Environmental and Mechanical Engineering, University of Trento, Via Mesiano, 77, 38123, Trento, Italy
| | - Nicola M Pugno
- Laboratory for Bioinspired, Bionic, Nano, Meta Materials & Mechanics, Department of Civil, Environmental and Mechanical Engineering, University of Trento, Via Mesiano, 77, 38123, Trento, Italy. .,School of Engineering and Material Science, Queen Mary University of London, Mile End Road, London, E1 4NS, UK.
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