Locomotion performance degradation after carrying payloads is a significant challenge for insect-scale microrobots.Previously,a legged microrobot named BHMbot with a high load-carrying capacity based on front-leg actu...Locomotion performance degradation after carrying payloads is a significant challenge for insect-scale microrobots.Previously,a legged microrobot named BHMbot with a high load-carrying capacity based on front-leg actuation configuration and efficient running gait was proposed.However,insects,mammals and reptiles in nature typically use their powerful rear legs to achieve rapid running gaits for predation or risk evasion.In this work,the load-carrying capacity of the BHMbots with front-leg actuation and rear-leg actuation configurations is comparatively studied.Simulations based on a dynamic model with four degrees of freedom,along with experiments,have been conducted to analyze the locomotion characteristics of the two configurations under different payload masses.Both simulation and experimental results indicate that the load-carrying capacity of the microrobots is closely related to their actuation configurations,which leads to different dynamic responses of the microrobots after carrying varying payload masses.For microrobots with body lengths of 15 mm,the rear-leg actuation configuration exhibits a 31.2%enhancement in running speed compared to the front-leg actuation configuration when unloaded.Conversely,when carrying payloads exceeding 5.7 times the body mass(350 mg),the rear-leg actuation configuration demonstrates an 80.1%reduction in running speed relative to the front-leg actuation configuration under the same payload conditions.展开更多
为探究介壳虫(Coccoidea)领域的研究热点演变轨迹、知识结构特征及未来发展趋势,对中国知网(CNKI)和Web of Science(WOS)中,1994—2024年与介壳虫研究相关的文献进行系统梳理,共检索到中文文献806篇、英文文献2757篇,利用VOSviewer和Cit...为探究介壳虫(Coccoidea)领域的研究热点演变轨迹、知识结构特征及未来发展趋势,对中国知网(CNKI)和Web of Science(WOS)中,1994—2024年与介壳虫研究相关的文献进行系统梳理,共检索到中文文献806篇、英文文献2757篇,利用VOSviewer和CiteSpace软件对发文数量、国家、机构、作者合作网络、来源期刊,以及关键词的共现、聚类、时间演变和突现进行可视化分析。发文量总体呈波浪式上升趋势,伴随阶段性波动,其中发文量最多的国家依次为美国、中国、印度和巴西。中文文献主要聚焦于介壳虫的新种记述及其发生规律,而英文文献则更侧重于生物防治研究,特别是对天敌及寄主植物的深入探讨。寄主植物及药剂防治等为国内研究的前沿,而植物害虫、植物健康及害虫风险则为当前国际研究的热点。通过可视化图谱直观呈现了近30年来介壳虫研究领域的整体状况,表明该领域研究逐步深入且发展势头良好,但目前的研究主要集中于新种记述及化学和生物防治,亟需加强基础研究与应用的结合,特别是在气味受体靶向的行为调控剂设计与开发方面。展开更多
基金supported in part by Beijing Natural Science Foundation under Grant 3232010in part by the National Natural Science Foundation of China under Grant 12002017+2 种基金in part by AECC Industry-university Collocation Fund under Grant HFZL2023CXY026in part by Beihang Outstanding Young Scholars Project under Grant YWF-23-L-1201in part by 111 Project under Grant B08009.
文摘Locomotion performance degradation after carrying payloads is a significant challenge for insect-scale microrobots.Previously,a legged microrobot named BHMbot with a high load-carrying capacity based on front-leg actuation configuration and efficient running gait was proposed.However,insects,mammals and reptiles in nature typically use their powerful rear legs to achieve rapid running gaits for predation or risk evasion.In this work,the load-carrying capacity of the BHMbots with front-leg actuation and rear-leg actuation configurations is comparatively studied.Simulations based on a dynamic model with four degrees of freedom,along with experiments,have been conducted to analyze the locomotion characteristics of the two configurations under different payload masses.Both simulation and experimental results indicate that the load-carrying capacity of the microrobots is closely related to their actuation configurations,which leads to different dynamic responses of the microrobots after carrying varying payload masses.For microrobots with body lengths of 15 mm,the rear-leg actuation configuration exhibits a 31.2%enhancement in running speed compared to the front-leg actuation configuration when unloaded.Conversely,when carrying payloads exceeding 5.7 times the body mass(350 mg),the rear-leg actuation configuration demonstrates an 80.1%reduction in running speed relative to the front-leg actuation configuration under the same payload conditions.
文摘为探究介壳虫(Coccoidea)领域的研究热点演变轨迹、知识结构特征及未来发展趋势,对中国知网(CNKI)和Web of Science(WOS)中,1994—2024年与介壳虫研究相关的文献进行系统梳理,共检索到中文文献806篇、英文文献2757篇,利用VOSviewer和CiteSpace软件对发文数量、国家、机构、作者合作网络、来源期刊,以及关键词的共现、聚类、时间演变和突现进行可视化分析。发文量总体呈波浪式上升趋势,伴随阶段性波动,其中发文量最多的国家依次为美国、中国、印度和巴西。中文文献主要聚焦于介壳虫的新种记述及其发生规律,而英文文献则更侧重于生物防治研究,特别是对天敌及寄主植物的深入探讨。寄主植物及药剂防治等为国内研究的前沿,而植物害虫、植物健康及害虫风险则为当前国际研究的热点。通过可视化图谱直观呈现了近30年来介壳虫研究领域的整体状况,表明该领域研究逐步深入且发展势头良好,但目前的研究主要集中于新种记述及化学和生物防治,亟需加强基础研究与应用的结合,特别是在气味受体靶向的行为调控剂设计与开发方面。
