能量最优弹性条件及其对仿生推进系统的意义
Conditions for energetically-optimal elasticity and their implications for biomimetic propulsion systems
摘要：
最大限度地减少与周期性运动相关的能量消耗是广泛的技术和生物体的共同优先事项-其中包括许多种类的飞行昆虫，对它们来说，扑翼飞行是生命中必不可少的运动模式。在追求这一优先权，以下问题往往体现：如何引入弹性致动，振荡，系统，以尽量减少致动器的功耗？在这里，我们在一系列一般系统中探索这个问题，并找到一些令人惊讶的答案。例如，人们普遍认为，如果系统动力学是线性的，那么线性共振弹性是唯一的最佳选择。相反，我们表明，存在非线性弹性等效的最优性，并提供了一个优雅的方法来构建这些弹性一般系统。这是线性和非线性动力学的一个新原理，从根本上改变了如何在广泛的动力系统中处理能量最优性问题。此外，我们展示了这一原理如何实现新形式的最优系统设计，包括非线性系统中的最优单向驱动;设计最优仿生推进系统的新工具;以及对结构弹性在一系列不同生物体中的作用的新见解。
英文摘要：
Minimising the energy consumption associated with periodic motion is a priority common to a wide range of technologies and organisms - among them, many species of flying insect, for which flapping-wing flight is a life-essential mode of locomotion. In pursuit of this priority, the following problem often manifests: how to introduce elasticity into an actuated, oscillating, system in order to minimise actuator power consumption? Here, we explore this question in a range of general systems, and find some surprising answers. For instance, it is widely assumed that, if the system dynamics are linear, then linear resonant elasticity is the only optimal choice. We show, to the contrary, that there exist nonlinear elasticities with equivalent optimality, and provide an elegant method for constructing these elasticities in general systems. This is a new principle of linear and nonlinear dynamics, fundamentally altering how questions of energetic optimality in a wide range of dynamical systems must be approached. Furthermore, we show how this principle enables new forms of optimal system design, including optimal unidirectional actuation in nonlinear systems; new tools for the design of optimal biomimetic propulsion systems; and new insights into the role of structural elasticity in a range of different organisms.
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