A motion mechanics test system for simulating unstable substrates

Abstract

The application discloses a kind of simulation non-stable base's kinematics test system, applied to animal kinematics test technical field.The system includes console, non-stable base simulation part, raw force data acquisition part, motion behavior data acquisition part;Console includes host computer, synchronous trigger and other control equipment;Non-stable base simulation part includes programmable control's rotating motor, equivalent base plane and rigid connection fixture;Raw force data acquisition part includes six-dimensional force sensor, three-axis acceleration sensor and related acquisition equipment;Motion behavior data acquisition part includes high-speed camera, motion capture camera, and can complete the behavior data and kinematics data record of research object.The application can realize the equivalent simulation of various types, various states of leaf class non-stable base in nature, and can complete the synchronous acquisition of force data and motion behavior data in the process of kinematics experiment of animal on non-stable base.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of animal kinematics testing, and more particularly to a kinematics testing system for simulating a non-stable substrate. BACKGROUND

[0002] In bionics engineering, the study of animal movement and the mechanics during movement is a prerequisite for follow-up work, and the study of animal movement must consider the physical and mechanical properties of the substrate on which the animal is located. In previous studies, people have paid more attention to the kinematic properties of animals on stable and solid substrates such as rocks and tree trunks. However, the study of animal movement behavior on substrates such as thin branches and leaves, which have higher instability, is still relatively scarce at the current stage. Therefore, the behavior regulation strategy of animals on non-stable substrates and the underlying kinematic properties have profound research significance.

[0003] Leaf-like substrates are the most common non-stable substrates in nature. In addition to their high flexibility, they also exhibit very dramatic oscillation characteristics when subjected to external stimuli such as strong winds and heavy rains. Previous studies have shown that many animals with adhesive properties on solid substrates have a safety factor of up to 20 or more, but on leaf-like non-stable substrates, the safety factor is often very low, and even less than 1. Therefore, the behavior regulation strategy of animals on leaf-like non-stable substrates and the underlying kinematic mechanism have higher research value.

[0004] Currently, due to the high difficulty of simulating non-stable substrates in nature and measuring their related mechanical properties in a laboratory environment, there are few mature testing techniques and equipment for non-stable substrates. Therefore, the behavior regulation strategy of animals on non-stable substrates and their kinematic properties are still unclear. However, the study of animal behavior on non-stable substrates is a necessary step in understanding the evolution of biological functions and their structure-function relationships, so there is an obvious need for the design and development of kinematic testing equipment for non-stable substrates at the current stage.

[0005] Therefore, it is a problem that needs to be solved by those skilled in the art to propose a kinematics testing system for simulating a non-stable substrate to solve the difficulties existing in the prior art. SUMMARY

[0006] Therefore, the present application provides a kinematics testing system for simulating a non-stable substrate to solve the above problems. It mainly includes a control console, a non-stable substrate simulation part, an original force data acquisition part, a motion behavior data acquisition part, and experimental accessories.

[0007] In order to achieve the above purpose, the present application provides the following technical solutions:

[0008] A motion mechanics test system for simulating unstable base, comprising: a console, an unstable base simulation part, an original force data acquisition part, and a motion behavior data acquisition part, wherein the console is connected with the unstable base simulation part, the original force data acquisition part, and the motion behavior data acquisition part respectively.

[0009] Optionally, the console comprises a host computer and a synchronous trigger, the synchronous trigger receives control commands of the host computer to control the unstable base simulation part, the original force data acquisition part, and the motion behavior data acquisition part.

[0010] Optionally, the unstable base simulation part comprises a programmable control rotary motor, an equivalent base plane, a motor clamp, and a base plane clamp, the rotary motor is rigidly fixed on the motor clamp, and is controlled by a program to simulate different characteristics of leaf vibration base and flexibility base.

[0011] Optionally, the equivalent base plane is composed of a carbon fiber tube and a foam plate, a ring-shaped hole is processed on the foam plate according to the shape and size of the carbon fiber tube by a hot cutting method, and the carbon fiber tube is glued to the foam plate by using strong glue which is not compatible with the foam plate or does not react with the foam plate during assembly, and the end of the carbon fiber tube is rigidly connected with the rotor of the rotary motor through the base plane clamp.

[0012] Optionally, different kinds of unstable bases are simulated by coating or pasting different surface materials on the top surface of the equivalent base plane.

[0013] Optionally, the original force data acquisition part comprises a six-dimensional force sensor, a three-axis acceleration sensor, and an acquisition device, the six-dimensional force sensor is used for collecting original force data, and the three-axis acceleration sensor is used for collecting acceleration data, wherein the six-dimensional force sensor is fixedly connected with the motor clamp, and the three-axis acceleration sensor is fixed on the bottom of the equivalent base plane.

[0014] Optionally, the motion behavior data acquisition part comprises a high-speed camera and a motion capture camera to record behavior data and kinematic data of a research object, wherein the motion capture camera is arranged in a high-low staggered manner to record position data of a marker point within a motion range of an experimental table.

[0015] The system is optionally provided with experimental auxiliary components, including an experimental bench rack, an animal releasing tool, and an animal trapping tool, wherein the animal releasing tool and the animal trapping tool are arranged on the experimental bench rack, and the animal releasing tool is arranged above the animal trapping tool.

[0016] Via the technical solution, compared with the prior art, the application provides a motion mechanics test system for simulating a non-stable substrate, which has the following beneficial effects:

[0017] 1) By using a programmable control rotary motor to drive the equivalent substrate plane to move, the motion mechanics test system for simulating a non-stable substrate with angle swing characteristics of leaves can be realized, and a reliable equivalent experimental environment for the research on the behavior regulation strategy and motion mechanics characteristics of animals on the non-stable substrate is provided.

[0018] 2) By using different motor control models in the control program, cooperating with different experimental bench layouts and different substrate surface materials, the equivalent simulation of various types and states of non-stable substrates in nature can be realized.

[0019] 3) By synchronous joint collection of multiple sensors and cameras, the collection of motion behavior data and force data can be realized at the same time, and a motion mechanics experimental measurement environment for non-stable substrates is provided. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are only embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of the provided drawings.

[0021] Figure 1 A test system overall schematic diagram of the motion mechanics test system for simulating a non-stable substrate provided by the application;

[0022] Figure 2 A non-stable substrate simulation and original force data collection part schematic diagram provided by the application;

[0023] Figure 3 An equivalent substrate plane bottom view provided by the application;

[0024] Figure 4 A substrate plane clamp structure schematic diagram provided by the application;

[0025] Figure 5 A motor clamping position schematic diagram provided by the application;

[0026] Figure 6 The experimental bench layout provided by the present application is shown in the figures, wherein 6.1 is a first layout mode, and 6.2 is a second layout mode.

[0027] Wherein, 1 - host computer, 2 - synchronous trigger, 3 - equivalent base plane, 4 - high-speed camera, 5 - motion capture camera, 6 - experimental bench rack, 7 - light supplementing device, 8 - animal releasing tool, 9 - animal trapping tool, 10 - rotary motor, 11 - motor clamp, 12 - base plane clamp, 13 - six-axis force sensor, 14 - three-axis acceleration sensor, 15 - carbon fiber tube, 16 - foam board. DETAILED DESCRIPTION

[0028] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0029] Referring to Figure 1 shown, a motion mechanics test system for simulating an unstable base includes a control console, an unstable base simulation part, an original force data acquisition part, and a motion behavior data acquisition part, wherein the control console is connected with the unstable base simulation part, the original force data acquisition part, and the motion behavior data acquisition part respectively.

[0030] Further, the control console includes a host computer 1 and a synchronous trigger 2. The synchronous trigger 2 receives control commands of the host computer 1, so as to complete control of the unstable base simulation part, the original force data acquisition part, and the motion behavior data acquisition part.

[0031] Specifically, the host computer 1 mainly completes control of the running state of the motor, the sensor, and the camera. The synchronous trigger 2 realizes synchronous triggering of each sensor and camera by sending a trigger signal, so as to ensure synchronization consistency of experimental data.

[0032] Further, referring to Figure 2 shown, the unstable base simulation part includes a programmable rotary motor 10, an equivalent base plane 3, a motor clamp 11, and a base plane clamp 12. The rotary motor 10 is rigidly fixed on the motor clamp 11, and concentrates simulation of different characteristic leaf vibration bases and flexibility bases by program control.

[0033] Specifically, referring to Figure 5As shown, the motor clamp 11 is provided with two different clamping positions on both sides, corresponding to horizontal and vertical clamping modes, and can be used for two different types of load conditions. The first installation mode is horizontal installation, mainly for the experimental working condition with large tangential load; the second installation mode is vertical installation, mainly for the experimental working condition with mainly normal load and less tangential load. The advantage of setting two different clamping positions is that different experimental conditions can be selected for installation to ensure that the load deformation of the motor clamp is always within the allowable range.

[0034] Specifically, the motor control program controls the motor to make the equivalent base plane complete the simulation of different types of unstable bases. Since there are various unstable bases in nature, not only large flexibility bases in static state, but also bases that produce periodic vibration under external stimuli such as wind and rain. Therefore, in addition to being able to simulate large flexibility leaf bases through torque control, the application can also simulate vibrating leaf bases through position control. Further, by modifying the control model in the control program, the base plane can exhibit different angular oscillation characteristics, thereby simulating different vibrations of different bases in nature under different external stimuli.

[0035] Further, referring to Figure 3 As shown, the equivalent base plane 3 is composed of a carbon fiber tube 15 and a foam plate 16. A ring-shaped hole is processed on the foam plate 16 according to the shape and size of the carbon fiber tube 15 by hot cutting method, and strong glue that is not compatible or chemically reactive with the foam plate 16 is used for gluing during assembly. The end of the carbon fiber tube 15 is rigidly connected with the rotor of the rotary motor 10 through the base plane clamp 12.

[0036] Further, by coating or pasting different surface materials on the top surface of the equivalent base plane 3, the simulation of different types of controlled unstable bases is realized.

[0037] Specifically, the equivalent base plane is composed of a carbon fiber tube 15 and a foam plate 16 to ensure its light weight. Further, when large tree frogs, geckos and other animals are used as research objects, in order to ensure sufficient specific stiffness, through finite element analysis and calculation, a 18K medium-high density foam plate with a thickness of 3mm and a 3K carbon fiber tube with a wall thickness of 0.5mm are selected, and the combined length of the two is not less than 100mm to meet the use requirements; further, by coating or pasting surface materials such as fresh leaf surface, rough sandpaper surface and smooth Teflon surface on the upper surface of the equivalent base plane, the influence of different surface materials on the motion mechanics performance of animals on unstable bases can be explored.

[0038] Specifically, referring to Figure 4As shown, the equivalent base plane 3 is fixed with the rotary motor rotor at the end of the carbon fiber tube 15 through the base plane clamp 12, realizing the common rotation of the two. The base plane clamp 12 adopts a U-shaped block form, which can realize the clamping of the equivalent base plane while ensuring its dismountability. Eight fasteners are arranged at the square blocks of the two wings, to ensure the circumferential clamping performance.

[0039] Further, referring to Figure 2 As shown, the original force data acquisition part includes a six-axis force sensor 13, a three-axis acceleration sensor 14, and an acquisition device. The six-axis force sensor 13 is used for collecting original force data, and the three-axis acceleration sensor 14 is used for collecting acceleration data. The six-axis force sensor 13 is fixed with the motor clamp 11, and the three-axis acceleration sensor 14 is fixed at the bottom of the equivalent base plane 3.

[0040] Specifically, the purpose of installing the three-axis acceleration sensor 14 at the bottom of the equivalent base plane 3 is to collect acceleration data of the equivalent base plane, which is used for subsequent force data analysis. By collecting acceleration data, not only the inertial force of the equivalent base plane can be solved, but also the vibration decoupling of the equivalent base plane can be assisted, and then the actual force between the animal and the base in the simulation of the leaf-like vibration base experiment can be solved.

[0041] Further, the motion behavior data acquisition part includes a high-speed camera 4 and a motion capture camera 5, which are used to record the behavior data and kinematic data of the research object. The motion capture camera 5 is arranged in high and low staggered manner to realize comprehensive recording of the position data of the marker points within the motion range of the experimental table.

[0042] Further, experimental accessories are also provided, including an experimental table rack 6, an animal release tool 8, and an animal trapping tool 9. The animal release tool 8 and the animal trapping tool 9 are arranged on the experimental table rack 6, and the animal release tool 8 is located above the animal trapping tool 9.

[0043] Specifically, the experimental table rack 6 has two layout modes to adapt to different behavior research goals. Soft sponge is laid at the bottom of the experimental table to ensure that the animal is not injured when it falls accidentally.

[0044] Specifically, the experimental table rack 6 has two different component installation positions, corresponding to two different experimental layouts with different purposes. See Figure 6Referring to Fig. 6.1, the first layout is shown, in which the unstable substrate simulation part and the original force data acquisition part connected thereto are arranged on the lower mounting position, and the motion capture camera is mounted thereon. This layout is mainly used for the motion mechanics experiment of animals on the non-inverted surface. Referring to Fig. 6.2, the second layout is shown, in which the unstable substrate simulation part and the original force data acquisition part are arranged on the upper mounting position, and the motion capture camera is mounted thereon. This layout is mainly used for the anti-disturbance performance experiment of animals on the inverted surface, and the experimental animal used is usually an animal with adhesion performance. In particular, for the motion mechanics experiment of the substrate initial state close to the vertical surface, in order to facilitate operation, the first layout is usually arranged, and the initial angle thereof is controlled by the motor.

[0045] Specifically, the animal release tool 8 is mounted on the top of the experimental table, which is used to complete the release of the animal in the animal falling experiment. The specific structure form is selected as an open clamp with a cylindrical inner cavity, the inner cavity diameter of which is selected according to the body size data of the animal to be studied, and a sponge layer is attached to the inner surface to prevent the animal from being injured. Compared with the shaking type, this structure form can avoid the animal generating a large initial speed during the release process, thereby improving the controllability of the experiment.

[0046] The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the difference from other embodiments. The same and similar parts between various embodiments can be referred to each other. For the device disclosed by the embodiments, since it corresponds to the method disclosed by the embodiments, the description is relatively simple, and the related parts can be referred to the method part.

[0047] The above description of the disclosed embodiments enables a person skilled in the art to implement or use the present application. Various modifications to the embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A system for testing the kinetics of motion of a non-stable substrate, characterized in that it comprises: The application relates to a non-stable base simulation system for studying the motion behavior of animals. The system comprises a console, a non-stable base simulation part, a raw force data acquisition part and a motion behavior data acquisition part, wherein the console is connected with the non-stable base simulation part, the raw force data acquisition part and the motion behavior data acquisition part respectively. The console comprises an upper computer (1) and a synchronous trigger (2), wherein the synchronous trigger (2) receives the control command of the upper computer (1) to control the non-stable base simulation part, the raw force data acquisition part and the motion behavior data acquisition part. The non-stable base simulation part comprises a programmable rotary motor (10), an equivalent base plane (3), a motor clamp (11) and a base plane clamp (12), wherein the rotary motor (10) is rigidly fixed on the motor clamp (11) and is controlled by a program to simulate different characteristics of leaf vibration base and flexibility base. The equivalent base plane (3) is composed of a carbon fiber tube (15) and a foam plate (16). The raw force data acquisition part comprises a six-dimensional force sensor (13), a three-axis acceleration sensor (14) and an acquisition device, wherein the six-dimensional force sensor (13) is used for collecting raw force data and the three-axis acceleration sensor (14) is used for collecting acceleration data, the six-dimensional force sensor (13) is fixed on the motor clamp (11) and the three-axis acceleration sensor (14) is fixed on the bottom of the equivalent base plane (3). The motion behavior data acquisition part comprises a high-speed camera (4) and a motion capture camera (5) to record the behavior data and kinematic data of the research object.

2. A system for testing the kinetics of motion of a non-stationary substrate according to claim 1, characterized in that, A ring-shaped hole is formed on the foam plate (16) according to the shape and size of the carbon fiber tube (15) by a hot cutting method, and the carbon fiber tube (15) is rigidly connected with the rotor of the rotary motor (10) through the base plane clamp (12) and the motor clamp (11) by using strong glue which does not dissolve or react with the foam plate (16).

3. The system for testing the kinetics of motion of an unstable substrate according to claim 1, characterized in that, Different surface materials are coated or pasted on the top surface of the equivalent base plane (3) to realize the simulation of different kinds of non-stable bases.

4. The system for testing the kinetics of motion of an unstable substrate according to claim 1, characterized in that, The motion capture camera (5) is arranged in a staggered manner to realize the comprehensive recording of the position data of the marker points in the motion range of the experimental table.

5. The system for testing the kinetics of motion of an unstable substrate according to claim 1, characterized in that, The experimental auxiliary parts comprise an experimental table rack (6), an animal releasing tool (8) and an animal trapping tool (9), wherein the animal releasing tool (8) and the animal trapping tool (9) are arranged on the experimental table rack (6) and the animal releasing tool (8) is located on the upper part of the animal trapping tool (9).

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