机器人平台研究加州海狮的Foreflipper
Summary
一个机器人平台描述将被用于研究水动力性能，力量和游泳加州海狮-的流场。机器人是动物的foreflipper的模型是由电机致动以复制其推进冲程（即'霹'）的运动。
Abstract
加州海狮（Zalophus californianus），是一种敏捷和强大的游泳运动员。与许多成功的游泳（海豚，金枪鱼），它们产生与大foreflippers大部分推力。本协议描述旨在研究游泳加州海狮（Zalophus californianus）的水动力性能的机器人平台。机器人是动物的foreflipper的模型是由电机致动以复制其推进冲程（即'霹'）的运动。海狮的推进行程的运动是由史密森动物园（SNZ）无人盯防，非研究海狮的视频数据中提取。这些数据构成这里提出的机器人导板的致动运动的基础。机器人的鳍状肢的几何形状是根据一个成年雌性海狮的foreflipper，扩展到全尺寸的鳍状肢的60％左右的高清晰度激光扫描。铰接式模型有3Ĵoints，模仿海狮foreflipper的肘，腕关节和关节。该机器人平台，从静止加速时动力匹配性能雷诺数和小费动物速度的。机器人脚蹼可用来确定性能（力和力矩）和所得的流场。
Introduction
虽然科学家已经研究了海狮游泳（热力学，运输成本，风阻系数，线性速度和加速度1-3的基本特征，我们缺乏对系统的流体动力学的信息。如果没有这个知识，我们限制潜在的高速，高机动性工程应用到身体的尾鳍（BCF）运动款4。通过表征不同的游泳范式，我们希望扩大我们的设计工具目录，特别是那些有潜力实现更安静，游泳的隐秘的形式。因此，我们使用机器人海狮foreflipper 5,6通过加州海狮和实验室调查的直接观察研究海狮游泳的基本机制。
要做到这一点，我们会聘请探索复杂的生物系统中常用的技术：机器人平台7。一些运动的研究，机器人步行8,9和游泳10 -具备h的是基于对动物的任何复杂的11或高度简化的12机械模型。通常情况下，机器人平台保留了模型系统的精髓，同时让研究人员能够探索大型参数空间13-15。虽然不总是表征整个系统，多是通过这些平台，隔离机车系统的单个组分了解到。例如，不稳定推进器的基本功能的，比如背部和往复扫carangiform游泳时的尾鳍，已通过激烈投球和/或起伏板12,16,17,18的实验研究探讨。在这种情况下，我们可以隔离的方式，基于动物研究不能这种复杂的运动的某些模式。推进的那些基本方面然后可以在不需要生物复杂性进化提供车辆的设计中使用。
<p class=“jove_content”>在本文中，我们提出了一个新的平台，为探索海狮推力生产中风的“拍手”阶段。仅单个foreflipper-的'roboflipper'-被包括在该平台。其几何形状是由加州海狮（Zalophus californianus）标本的生物扫描准确的。该roboflipper被致动以复制从以前的研究1衍生的动物的运动。这个机器人脚蹼将用于调查游泳海狮的水动力性能，并探索比动物研究中，尤其是那些大的水生哺乳动物更宽参数空间，可以产生。Protocol
Representative Results
Discussion
机器人脚蹼设备将使我们能够理解游泳加州海狮的流体力学。这包括基本推力产生行程（即'霹'），以及动物研究不能调查非物理变化。机器人起落已被设计为实验的多功能性，从而，步骤3，其中本身挡板制成-是在获得所期望的结果是至关重要的。尽管这种装置是，很显然，仅有活系统的模型， 在加州海狮的原位研究是极其困难的和可能的数据的范围是相当有限的。
<p clas…Disclosures
The authors have nothing to disclose.
Acknowledgements
The authors would like to thank the George Washington University Facilitating Fund for financial support of the project. Mr. Patel is grateful the George Washington University School of Engineering and Applied Science Summer Undergraduate Program in Engineering Research and the Undergraduate Research award for financial support. Finally, we are grateful to the GWU Center for Biomemetics and Bioinspired Engineering (COBRE) for use of facilities controlled by the center.
Materials
| Dragon Skin 20 | Smooth-on | ||
| Dragon Skin 20 medium | Smooth-on | ||
| Object24 | Stratasys | 3D printer | |
| Stand Mixer | Hamilton | ||
| PKS-PRO-E-10 System | Anaheim Automation | PKS-PRO-E-10-A-LP22 | Controller and Servo Motor |
| Artec Eva | Artec 3D | 3D light scanner with resolution of 0.1mm | |
| Artec Spider | Artec 3D | 3D light scanner with resolution of 0.5mm | |
| Steel plate | Mcmaster | ||
| Carbon Tow | Fibreglast | 2393-A | |
| Hardened Precision 440C Stainless Steel Shaft | Mcmaster | 6253K49 | |
| Tygon PVC Clear Tubing | Mcmaster | 6546T23 | |
| Kevlar Thread | Mcmaster |
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