A bionic bird jumping grasping structure design based on stm32 development board control
Abstract During takeoff and landing, birds bounce and grab with their legs and feet. In this paper,the lower limb structure of the bionic bird is designed with reference to the function of jumping and grasping, and the PID algorithm based on the development module of stm32 development board is used...
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| Format: | Article |
| Language: | English |
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Nature Portfolio
2024-05-01
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| Series: | Scientific Reports |
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| Online Access: | https://doi.org/10.1038/s41598-024-61285-y |
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| author | Chunpeng Zhang Weiping Shao Yongping Hao |
| author_facet | Chunpeng Zhang Weiping Shao Yongping Hao |
| author_sort | Chunpeng Zhang |
| collection | DOAJ |
| description | Abstract During takeoff and landing, birds bounce and grab with their legs and feet. In this paper,the lower limb structure of the bionic bird is designed with reference to the function of jumping and grasping, and the PID algorithm based on the development module of stm32 development board is used to speed control the lower limb driving element, so that the motor and the bishaft steering gear move with the rate change of sine wave. According to the speed of grasping response time and the size of grasping force, the structure of the bionic bird paw is designed. Based on the photosensitive sensor fixed in the geometric center of the foot, the grasping action of the lower limb mechanism is intelligently controlled. Finally, the kinematic verification of the lower limb structure is carried out by ADAMS. Experiments show that the foot structure with four toes and three toes is more conducive to maintaining the stability of the body while realizing the fast grasping function. In addition, it can effectively improve the push-lift ratio of the bionic ornithopter by adjusting the sinusoidal waveform rate of the motor speed. |
| format | Article |
| id | doaj-art-a843e872675a4b2ab2fa2212486f2b59 |
| institution | OA Journals |
| issn | 2045-2322 |
| language | English |
| publishDate | 2024-05-01 |
| publisher | Nature Portfolio |
| record_format | Article |
| series | Scientific Reports |
| spelling | doaj-art-a843e872675a4b2ab2fa2212486f2b592025-08-20T01:57:11ZengNature PortfolioScientific Reports2045-23222024-05-0114111310.1038/s41598-024-61285-yA bionic bird jumping grasping structure design based on stm32 development board controlChunpeng Zhang0Weiping Shao1Yongping Hao2School of Mechanical Engineering, Shenyang Ligong UniversitySchool of Mechanical Engineering, Shenyang Ligong UniversitySchool of Equipment Engineering, Shenyang Ligong UniversityAbstract During takeoff and landing, birds bounce and grab with their legs and feet. In this paper,the lower limb structure of the bionic bird is designed with reference to the function of jumping and grasping, and the PID algorithm based on the development module of stm32 development board is used to speed control the lower limb driving element, so that the motor and the bishaft steering gear move with the rate change of sine wave. According to the speed of grasping response time and the size of grasping force, the structure of the bionic bird paw is designed. Based on the photosensitive sensor fixed in the geometric center of the foot, the grasping action of the lower limb mechanism is intelligently controlled. Finally, the kinematic verification of the lower limb structure is carried out by ADAMS. Experiments show that the foot structure with four toes and three toes is more conducive to maintaining the stability of the body while realizing the fast grasping function. In addition, it can effectively improve the push-lift ratio of the bionic ornithopter by adjusting the sinusoidal waveform rate of the motor speed.https://doi.org/10.1038/s41598-024-61285-yThe bionic birdLower limb structureBouncing grabstm32 |
| spellingShingle | Chunpeng Zhang Weiping Shao Yongping Hao A bionic bird jumping grasping structure design based on stm32 development board control Scientific Reports The bionic bird Lower limb structure Bouncing grab stm32 |
| title | A bionic bird jumping grasping structure design based on stm32 development board control |
| title_full | A bionic bird jumping grasping structure design based on stm32 development board control |
| title_fullStr | A bionic bird jumping grasping structure design based on stm32 development board control |
| title_full_unstemmed | A bionic bird jumping grasping structure design based on stm32 development board control |
| title_short | A bionic bird jumping grasping structure design based on stm32 development board control |
| title_sort | bionic bird jumping grasping structure design based on stm32 development board control |
| topic | The bionic bird Lower limb structure Bouncing grab stm32 |
| url | https://doi.org/10.1038/s41598-024-61285-y |
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