The existing research on rescue robots has focused mainly on reconnaissance,detection,and firefighting,and a small number of robots that can achieve human rescue have problems such as poor safety and stability and ins...The existing research on rescue robots has focused mainly on reconnaissance,detection,and firefighting,and a small number of robots that can achieve human rescue have problems such as poor safety and stability and insufficient carrying capacity.This article addresses the above issues and cleverly combines the advantages of soft robotic arms,underactuated robotic arms,and suction cups based on the principles of bionics.A new design for a robotic arm was proposed,and its working principle was explained.Then,the human rescue process was divided into two stages,and the grasping force of the robotic arm in each stage was analyzed separately.Finally,a prototype of the principle was developed,and the feasibility of the design principle of the robotic arm was verified through grasping experiments on a cross-sectional contour model of the human chest.At the same time,grasping experiments were conducted on different objects to demonstrate the potential application of the robotic arm in grasping ground objects.This research proposes a stress envelope adsorption rescue robot arm inspired by the adhesion ability of the Drosera plant and the stress envelope effect,which can apply force to the entire surface of the human body,reduce local force on the human body,ensure load-bearing capacity and adaptability,and improve the safety and stability of rescue grasping.展开更多
茅膏菜系茅膏菜科（Droseraceae）植物茅膏菜（Drosera pellata Smith Lunata（Buch-Ham.）C. B. Clarke）以全草人药。民间常用于祛风除湿,治疗跌打损伤及结核病。又为一常用藏药,在西藏地区民间用于治疗月经不调、瘰疠等症,又作为滋...茅膏菜系茅膏菜科（Droseraceae）植物茅膏菜（Drosera pellata Smith Lunata（Buch-Ham.）C. B. Clarke）以全草人药。民间常用于祛风除湿,治疗跌打损伤及结核病。又为一常用藏药,在西藏地区民间用于治疗月经不调、瘰疠等症,又作为滋补药。文献报道含有萘醌成分。 样品采于西藏。全草干燥细粉重5.5kg,用乙醇提取,粗提物的乙醚溶解部分经反复硅胶柱层析,得到一种新的茚满酮,命名为:泊尔酮A（peltatone A）（Ⅰ）50 mg;0.00091％。 根据元素分析和质谱数据,相应分子式为C10H8O5,Ω=7,IR提示含有苯环、羟基及羰基,三氯化铁-铁氰化钾显蓝色。1H NMR提示存在2个芳氢（δ7.38,s）,1个甲基（δ1.70,s）,乙酰化物1H NMR提示Ⅰ含有2个酚羟基,1个醇羟基。IR说明有β—双酮结构(VmaxKBr cm-1:1730,1693),13C NMR及DEPT谱也说明分广内存在对称结构,确定Ⅰ的结构为2—甲基,2,4,7—三羟基—1,3—茚二酮。展开更多
基金Supported by National Natural Science Foundation of China(Grant No.52475032)Central Government Guides Local Science and Technology Development Fund Projects(Grant No.246Z2001G)Hebei Provincial Natural Science Foundation Key Projects(Grant No.E2021203125).
文摘The existing research on rescue robots has focused mainly on reconnaissance,detection,and firefighting,and a small number of robots that can achieve human rescue have problems such as poor safety and stability and insufficient carrying capacity.This article addresses the above issues and cleverly combines the advantages of soft robotic arms,underactuated robotic arms,and suction cups based on the principles of bionics.A new design for a robotic arm was proposed,and its working principle was explained.Then,the human rescue process was divided into two stages,and the grasping force of the robotic arm in each stage was analyzed separately.Finally,a prototype of the principle was developed,and the feasibility of the design principle of the robotic arm was verified through grasping experiments on a cross-sectional contour model of the human chest.At the same time,grasping experiments were conducted on different objects to demonstrate the potential application of the robotic arm in grasping ground objects.This research proposes a stress envelope adsorption rescue robot arm inspired by the adhesion ability of the Drosera plant and the stress envelope effect,which can apply force to the entire surface of the human body,reduce local force on the human body,ensure load-bearing capacity and adaptability,and improve the safety and stability of rescue grasping.
