| With the development of industrialization,the machinery industry developed rapidly.It also leads to the development of hydraulic equipments.Hydraulic transmission system is the core of hydraulic equipment,and it pervades near all industrial fields.However,the current hydraulic system has many problems that have to be settled urgently,such as complex structure,low power quality,long response time and low energy efficiency.After a million years of natural selection and evolution,Chilean tarantulas has evolved and developed a special "biological hydraulic system" due to its survival requirements,such as foraging,hunting,and escaping.Chilean tarantulas can use low internal pressure to achieve efficient drive and movement,and it also has the advantages of non-pollution,compact structure,high efficiency and power quality ratio,coordination and control of motion,stability and reliability.Therefore,the objective of this thesis is to analyze the efficient hydraulic driving mechanism and driving principle of Chilean tarantulas,in order to provide biomechanical foundation for the development of new hydraulic system technology.It is of scientific significance and is valuable in engineering application.First,we constructed test site and used high speed camera and 3D Motion capture system to study the tarantulas joint kinematics,under three different environments including the level hard road,level soft road and slope soft road.The variations range of joint Angle in a period is analyzed.The results showed that the gait patterns is diagonal rhythm.Under three different environment,the load factor of eight legs are greater than 50%,some even reach 70%.This indicates that the gait of spider has good stability.These data will help to study the mechanism of spider hydraulic walking.It can also provide the data and theoretical basis for the design of the following spider walking mechanism.This thesis conducted physiological slice measurement by HE staining.Results showed that there are two flexors in the femur-patella joint,they are the flexor patella bilobatus and the flexor patella longus respectively.By local electron microscopy test,we found that bitendonous muscle lies laterally and dorsally in the femur,arising from the dorsal femoral surface and inserting directly on the proximal lip of the patella,and it produces strong flexion of the femur-patellar joint.The longest muscle is the flexor patella longus,arising from the ventro-lateral lip of the trochanter and from the ventral proximal portion of the femur,andextends ventrally and medially the full length of the femur,but on the proximal margin of a chitinous horseshoe-shaped plate to whose distal margin are attached the proximal and distal portions of the ventral interarticular membrane.The data obtained from the Micro-CT scanning experiment was reconstructed using Amira software,and three-dimensional model of four steps on the spiders side was obtained.Through the Amira software's slicing function,we observed and analyzed the configurations of the internal fluid(hemolymph)channel in four legs.We found that there are many sinus in the joints,which may be related to the storage of liquids.The internal fluid(hemolymph)channels of both femur-patella and tibia-metatarsal joint were extracted and processed using Geomagic Studio software,.Finally,the solid model was reconstructed and imported into Ansys workbench for CFD simulation.The CFD simulation of the flow path in the femur-patella and tibia-metatarsal section of the leg of Tarantula was carried out,and its influence on high-efficiency hydraulic drive was analyzed.The study found that both intra-articular tunnels in the spider's legs communicated,and the channel has a special structure of wide and narrow switching along the section of the long axis of the leg.Simulation results showed that the structure can effectively increase the flow velocity and pressure of the fluid flowing through the region,which is beneficial to the efficient driving of spider internal pressure. |
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