CAJ | 학술논문

　　为给适应复杂路面的多足仿生机器人或步行移动平台的研究提供理论依据，该文以中华绒螯蟹为研究对象，使用三维运动图像采集系统采集其运动图像，并使用三维运动图像分析系统得到中华绒螯蟹质心的运动学参数，分析结果表明：中华绒螯蟹在平面运动时主要使用跳跃步态；质心动能、重力势能以及总机械能呈正弦波动，动能与重力势能同相；使用恢复系数表示动能和重力势能相互转换的效率，其平均值为31.73%±17.29%，恢复系数和平均速率没有相关关系；质心机械能比质量功率随平均速率的增长呈线性增加；质心水平动能比质量功率和重力势能比质量功率对中华绒螯蟹身体的加速和抬升起主要作用。该研究可为研究适应复杂路面的仿生机器人或移动平台提供理论依据。
　　위급괄응복잡로면적다족방생궤기인혹보행이동평태적연구제공이론의거，해문이중화융오해위연구대상，사용삼유운동도상채집계통채집기운동도상，병사용삼유운동도상분석계통득도중화융오해질심적운동학삼수，분석결과표명：중화융오해재평면운동시주요사용도약보태；질심동능、중력세능이급총궤계능정정현파동，동능여중력세능동상；사용회복계수표시동능화중력세능상호전환적효솔，기평균치위31.73%±17.29%，회복계수화평균속솔몰유상관관계；질심궤계능비질량공솔수평균속솔적증장정선성증가；질심수평동능비질량공솔화중력세능비질량공솔대중화융오해신체적가속화태승기주요작용。해연구가위연구괄응복잡로면적방생궤기인혹이동평태제공이론의거。
Some types of arthropods can go through rugged terrains high-efficiently and stably, which gives us innovative ideas and adequate theories for designing bionic legged-robots or mobile platforms. Therefore, the biomechanics analysis of legged-animals during their locomotion on a terrain is highly significant in many biological or biorobotics disciplines. The locomotion mechanism of the Chinese mitten crab, which originated from the Far East and predominantly lived along rocky shores or in freshwater, as a typical arthropod, was studied using the experimental methods of biomechanics. In the present study, 30 tested Chinese mitten crabs (Eriocheir sinensis Milne-Edwards) were collected from Yangcheng Lake in China. The body mass of the crabs was measured with an electronic balance (accuracy=0.001 g) and the location of the center of mass on the dorsal carapace for each crab was determined with a suspended test. In order to capture the video images of the movements of Chinese mitten crabs’ locomotion on a smooth terrain, we designed a high speed 3-D (three-dimension) including four high-speed cameras with recording speed of 120 frames/s and a resolution of 640 pixel×480 pixel, four LED video lights with a color temperature of (5500±200) K, a flash light to produce a flash signal which was captured simultaneously by four high-speed cameras as the starting point to analyze the video images in the motion analysis system, and a 0.6 m×0.4 m×0.2 m calibration frame with 16 non-linear points that approximately filled the overlapping region of the four cameras before the experiments. Frame-by-frame analysis of the motion video images was performed using a SIMI-motion analysis system and all kinematic parameters of the center of mass could be obtained from the analysis system directly. The typical variables, such as mechanical energy, the shift phase between the undulations in kinetic energy and gravitational potential energy, percentage recovery, and mass-specific rate of the mechanical power of the center of mass were calculated from kinematic parameters. The statistical results of the phase shift between the undulations in kinetic energy and gravitational potential energy show that the Chinese mitten crab used a bouncing gait as the main energy-conserving and-releasing pattern of mechanical energy when moving on a smooth terrain. The undulations of kinetic energy, gravitational potential energy, and total mechanical energy of the center of mass of the Chinese mitten crab performed sinusoidal curves. The percentage recovery of Chinese mitten crabs with an approximate mean value of (31.73%±17.29%), which was lower than that of ghost crab (Ocypode quadrata, 55%-70%) and different from death-head cockroach (Blaberus discoidalis, the mean value is 15.7%), did not vary as a function of average speed. Therefore, the relation between percentage recovery and average speed and the low percentage recovery also indicate that the bouncing gait was used by Chinese mitten crab for its main energy conservation pattern. The mass-specific rate of mechanical power increased with average speed linearly. The mass-specific rate of horizontal kinetic power was the main component of the mass-specific rate of kinetic power required to accelerate the center of mass of the Chinese mitten crab;the mass-specific of gravitational potential power was the main component of the mass-specific rate of total mechanical power required to lift the center of mass of the Chinese mitten crab.