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Learning from biological attachment devices: applications of bioinspired reversible adhesive methods in robotics

《机械工程前沿（英文）》 2022年第17卷第3期 doi: 10.1007/s11465-022-0699-x

摘要： Many organisms have attachment organs with excellent functions, such as adhesion, clinging, and grasping, as a result of biological evolution to adapt to complex living environments. From nanoscale to macroscale, each type of adhesive organ has its own underlying mechanisms. Many biological adhesive mechanisms have been studied and can be incorporated into robot designs. This paper presents a systematic review of reversible biological adhesive methods and the bioinspired attachment devices that can be used in robotics. The study discussed how biological adhesive methods, such as dry adhesion, wet adhesion, mechanical adhesion, and sub-ambient pressure adhesion, progress in research. The morphology of typical adhesive organs, as well as the corresponding attachment models, is highlighted. The current state of bioinspired attachment device design and fabrication is discussed. Then, the design principles of attachment devices are summarized in this article. The following section provides a systematic overview of climbing robots with bioinspired attachment devices. Finally, the current challenges and opportunities in bioinspired attachment research in robotics are discussed.

关键词： adhesion bioinspired attachment biomimetic gripper climbing robot

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Design and analysis of the gripper mechanism based on generalized parallel mechanisms with configurable

《机械工程前沿（英文）》 2021年第16卷第4期页码 765-781 doi: 10.1007/s11465-021-0655-1

摘要： Generalized parallel mechanisms with a configurable moving platform have become popular in the research field of parallel mechanism. This type of gripper mechanism can be applied to grasp large or heavy objects in different environments that are dangerous and complex for humans. This study proposes a family of novel (5 + 1) degrees of freedom (three translations and two rotations plus an additional grasping motion) gripper mechanisms based on the generalized parallel mechanisms with a configurable moving platform. First, the configurable moving platform, which is a closed loop, is designed for grasping manipulation. The hybrid topological arrangement is determined to improve the stiffness of the manipulator and realize high load-to-weight ratios. A sufficient rule based on Lie group theory is proposed to synthesize the mechanism. The hybrid limb structure is also enumerated. A family of novel gripper mechanisms can be assembled through the hybrid limbs by satisfying the rule. Two examples of the gripper mechanisms with and without parallelogram pairs are shown in this study. A kinematic analysis of the example mechanism is presented. The workspace shows that the mechanism possesses high rotational capability. In addition, a stiffness analysis is performed.

关键词： generalized parallel mechanism configurable moving platform gripper mechanism type synthesis kinematic analysis

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Selective oxidation of o -nitrotoluene to o -nitrobenzaldehyde with metalloporphyrins as biomimetic catalysts

Xinling WANG, Yuanbin SHE,

《化学科学与工程前沿（英文）》 2009年第3卷第4期页码 453-456 doi: 10.1007/s11705-009-0167-8

摘要： Selective oxidation of -nitrotoluene to -nitrobenzaldehyde with metalloporphyrins as biomimetic catalysts was studied. The peripheral substituent around porphyrin rings and various process parameters of NaOH concentration, reaction temperature, reaction time and oxygen pressure all affect the selectivity of -nitrobenzaldehyde. Further, 82.0% selectivity of -nitrobenzaldehyde was achieved under the optimum conditions: 1.0×10mol•L of T(-NO)PPFeCl catalyst, 2.5mol•L of NaOH, 0.2mol•L of -nitrotoluene, 45°C and 2.0MPa for 6h.

关键词： -nitrobenzaldehyde temperature biomimetic selectivity pressure

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A novel shape memory alloy actuated soft gripper imitated hand behavior

《机械工程前沿（英文）》 2022年第17卷第4期 doi: 10.1007/s11465-022-0700-8

摘要： The limited length shrinkage of shape memory alloy (SMA) wire seriously limits the motion range of SMA-based gripper. In this paper, a new soft finger without silicone gel was designed based on pre bent SMA wire, and the finger was back to its original shape by heating SMA wire, rather than relying only on heat exchange with the environment. Through imitating palm movement, a structure with adjustable spacing between fingers was made using SMA spring and rigid spring. The hook structure design at the fingertip can form self-locking to further improve the load capacity of gripper. Through the long thin rod model, the relationship of the initial pre bent angle on the bending angle and output force of the finger was analyzed. The stress-strain model of SMA spring was established for the selection of rigid spring. Three grasping modes were proposed to adapt to the weight of the objects. Through the test of the gripper, it was proved that the gripper had large bending amplitude, bending force, and response rate. The design provides a new idea for the lightweight design and convenient design of soft gripper based on SMA.

关键词： shape memory alloy (SMA) pre bent wire gripper grasping mode lightweight

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Bioinspired and biomimetic membranes for water purification and chemical separation: A review

《环境科学与工程前沿（英文）》 2021年第15卷第6期 doi: 10.1007/s11783-021-1412-8

摘要：

•The history of biological and artificial water channels is reviewed.

关键词： Aquaporins Artificial water channels Biomimetic membranes Chemical separation and water purification

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IPMC gripper static analysis based on finite element analysis

Hanmin PENG, Yao HUI, Qingjun DING, Huafeng LI, Chunsheng ZHAO,

《机械工程前沿（英文）》 2010年第5卷第2期页码 204-211 doi: 10.1007/s11465-010-0005-1

摘要： Recently, a type of flexible grippers with low power supply (0–5 V) has been designed and developed for grasping small but precision parts. In previous work, the authors manufactured a soft gripper whose actuating components are made of ionic polymer-metal composite (IPMC) materials; however, there is not a comprehensive model to analyze the complete mechanics for this IPMC gripper. Therefore, this paper provides a finite element method for analyzing its static mechanics characteristics in the state with maximal stress and strain (i.e., the gripper opening largest, including the IPMC deformation, stress, and strain). Further, these electromechanical coupling relationships can be simulated by using the piezoelectric analysis module based on ANSYS software. The simulation results show that the maximal tip displacement of IPMC strips can nearly reach their own free length, the maximal stress is 54 MPa in the center of copper electrodes, and the maximal strain is 0.0286 on the IPMC strip. The results provide detailed numerical solutions and appropriate finite element analysis methodologies beneficial for further research on the optimization design, forecast analysis, and control field.

关键词： ionic polymer-metal composite (IPMC) artificial muscles actuator flexible gripper finite element analysis electromechanical coupling

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Preparation, with graphene, of novel biomimetic self-healing microcapsules with high thermal stability

《结构与土木工程前沿（英文）》页码 1188-1198 doi: 10.1007/s11709-023-0027-5

摘要： This paper reports a comparative study of microcapsules with enhanced thermal stability and electrical conductivity inspired by the bionic thermal insulation of birds’ feathers for self-healing aged asphalt. The work is based on an in situ polymerization with composite shell components of graphene and hexamethoxymethylmelamine resin. By using graphene, microcapsules with rough surfaces are achieved, improving the interface between microcapsules and asphalt. In addition, the microcapsules’ initial thermal decomposition temperature is appropriately high, so that the stability of the microcapsule in the asphalt highway system is protected. The proportion of graphene in the microcapsule shell can regulate the microcapsule’s heat resistance because graphene modifies the shell’s structural makeup. Additionally, the microcapsules’ electrical conductivity is relatively high. The self-healing capability of bitumen sharply increases, providing benefit to the effect of microcapsules on the properties of aged asphalt.

关键词： graphene microcapsule bitumen heat insulation conductivity

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Biomimetic mineralization and cytocompatibility of nanorod hydroxyapatite/graphene oxide composites

Peizhen Duan, Juan Shen, Guohong Zou, Xu Xia, Bo Jin

《化学科学与工程前沿（英文）》 2018年第12卷第4期页码 798-805 doi: 10.1007/s11705-018-1708-9

摘要： Nanorod hydroxyapatite (NRHA)/graphene oxide (GO) composites with weight ratios of 0.4, 1.5, and 5 have been fabricated by a facile ultrasonic-assisted method at room temperature and atmospheric pressure. The chemical structure properties and morphology of the composites were characterized by field emission source scanning electron microscope, X-ray diffraction, transmission electron microscopy, and high-resolution transmission electron microscopy. The results indicate that the NNRHA/GO composites have an irregular surface with different degree wrinkles and are stable, and NRHA are well combined with GO. In addition, the biomimetic mineralization mechanism of hydroxyapatite on the NNRHA/GO composites in simulated body fluid (SBF) is presented. The presence of a bone-like apatite layer on the composite surface indicate that the NNRHA/GO composites facilitate the nucleation and growth of hydroxyapatite crystals in SBF for biomimetic mineralization. Moreover, the NNRHA-1.5/GO composite and pure GO were cultured with MC3T3-E1 cells to investigate the proliferation and adhesion of cells. In vitro cytocompatibility evaluation demonstrated that the NNRHA/GO composite can act as a good template for the growth and adhesion of cells. Therefore, the NNRHA/GO composite could be applied as a GO-based, free-template, non-toxic, and bioactive composite to substitute for a damaged or defect bone.

关键词： hydroxyapatite graphene oxide biomimetic mineralization cytocompatibility

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生物材料的仿生构思

姚康德,沈峰

《中国工程科学》 2000年第2卷第6期页码 16-20

摘要：

过去30年里，生物材料的研究取得了显著成就，但从临床效果看，其与宿主相互作用亟待改善；哪怕是有些应用于长期埋植体内的替代物，常被机体视为异物，从而启迪人们不要仅着眼于从材料的物化性能方面构思生物材料。文章从蛋白质、糖类和脱氧核糖核酸与材料的关系出发，以细胞作为仿生生物材料的蓝本，从分子和细胞水平讨论了生物特异性材料设计，人工细胞外基质的仿生化途径以及通过材料对细胞编程凋亡的调控等方面的研究思路；试图从生命科学的广度和柔性出发，提出在不同层次和水平上进行仿生，从事生物材料设计，解决生物材料与生物体复杂接口问题，使生物材料向智能化和环境友好化发展。

关键词：生物材料仿生人工细胞外基质

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Roles of glutathione and L-cysteine in the biomimetic green synthesis of CdSe quantum dots

Ling-Li Li, Yin-Hua Cui, Jie-Jie Chen, Han-Qing Yu

《环境科学与工程前沿（英文）》 2017年第11卷第6期 doi: 10.1007/s11783-017-0948-0

摘要： Biological synthesis of quantum dots (QDs) as an environmental-friendly and facile preparation method has attracted increasing interests. However, it is difficult to distinguish the roles of bio-thiols in QDs synthesis process because of the complex nature in organisms. In this work, the CdSe QDs synthesis conditions in organisms were reconstructed by using a simplified in vitro approach to uncover the roles of two small bio-thiols in the QDs formation. CdSe QDs were synthesized with glutathione (GSH) and L-cysteine (Cys) respectively. Compared with Cys at the same molar concentration, the CdSe QDs synthesized by GSH had a larger and broader particle size distribution with improved optical properties and crystal structure. Furthermore, quantum chemical calculations indicate that the stronger Cd2+ binding capacity of GSH contributed a lot to the CdSe QDs formation despite of the greater capability Cys for selenite reduction. This work clearly demonstrates the different roles of small thiols in the Cd2+ stabilization in the environment and biomimetic QDs synthesis process.

关键词： CdSe Quantum dots (QDs) Biomimetic synthesis Bio-thiols Glutathione (GSH) Cysteine (Cys)

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水处理仿生膜研究进展

曾艳军,张林,陈欢林

《中国工程科学》 2014年第16卷第7期页码 10-16

摘要：

本文首先介绍了细胞膜中磷脂双分子层与膜蛋白的结构以及水快速传输的机理。在此基础上分别对以膜蛋白、碳纳米管和人造有机纳米孔道为水通道的仿生膜研究进展进行了综述，着重阐述了以膜蛋白为水通道的仿生膜中两性嵌段共聚物基质的优点、规模化制备面临的问题；以碳纳米管为水通道的仿生膜中水快速传输的机理与膜的制备方法；以及人造有机纳米孔道的设计方法。最后提出了水处理仿生膜所面临的挑战，展望了仿生膜发展的前景。

关键词：细胞膜水通道蛋白仿生膜碳纳米管人造水通道

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Dynamical research on spherical micro actuator with piezoelectric ceramic stacks drivers

ZHANG Ruihua, CHEN Haichu

《机械工程前沿（英文）》 2007年第2卷第4期页码 433-438 doi: 10.1007/s11465-007-0074-y

摘要： This paper develops a 30 mm × 30 mm × 50 mm spherical micro actuator driven by piezoelectric ceramic stacks (PZT), and analyzes its dynamic performances. First, the space coordinate relationship of the spherical micro actuator and a dynamic model are set up. Second, The Runge-Kutta arithmetic is used to calculate the dynamical parameters of the micro actuator; the SIMULINK module of MATLAB is used to build the dynamical simulating model and then simulate it. Third, an experimental sample of the spherical micro actuator is developed, a micromanipulator is integrated with a micro-gripper based on the sample spherical micro actuator, and the experimental research on the micro assembly is conducted between a micro shaft of 180 μm and a micro spindle sleeve of 200 μm. Finally, the characteristics of the spherical micro actuator influenced by the mass of the metal sphere of the micro actuator, driving signal frequency, friction coefficient of the contact surface between the metal sphere and the friction block of the micro driving unit are analyzed. The experimental results indicate that the rotation resolution of the micro actuator reaches 0.000 1°, the rotation positioning precision reaches 0.000 5°, and the maximum working frequency is about 1200 Hz. The experimental results validate the back rotation vibration model of the spherical micro actuator. The micromanipulator integrated by the spherical micro actuator can meet the requirements of precise micro operation and assembly for micro electro mechanical systems (MEMS) or other microelements in micro degree fields.

关键词： spherical micro-gripper friction coefficient dynamic frequency

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微小型机器鼠仿鼠行为学习与生成

高子航, 贾广禄, 谢宏钊, 黄强, 福田敏男, 石青

《工程（英文）》 2022年第17卷第10期页码 232-243 doi: 10.1016/j.eng.2022.05.012

摘要：

现有的仿生机器鼠仅可以执行一些基本的仿鼠运动基元（MP），并通过这些基元的刚性组合来形成简单的行为。为了模拟具有高相似性的典型实验鼠行为，本文提出使用概率模型和运动特征对实验鼠的行为进行参数化。首先，对15 个10 min 的实验鼠运动视频片段的分析表明，一只实验鼠在野外通常有6 种典型的行为，且每种行为都包含8 个运动基元的不同组合。本文首先使用softmax 分类器来获得实验鼠的行为-运动分层概率模型。其次，使用静态和动态的运动参数对运动基元组合进行特征化。本文分别使用分层聚类和模糊C均值（FCM）聚类获得静态和动态运动参数的优势值。这些优势值通过二阶傅里叶级数对实验鼠的脊柱关节轨迹进行拟合，并且通过具有两个隐藏层的反向传播（BP）神经网络对关节轨迹进行泛化。最后，将分层概率模型和泛化的关节轨迹分别作为控制策略和指令映射到机器鼠。本文在机器鼠上实现了6 种典型的仿鼠行为，其结果与实验鼠的行为相比显示出高度相似性。

关键词：仿生学微小型机器鼠神经网络学习行为生成

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Immobilization of

Xiaokai SONG,Zhongyi JIANG,Lin LI,Hong WU

《化学科学与工程前沿（英文）》 2014年第8卷第3期页码 353-361 doi: 10.1007/s11705-014-1421-2

摘要： Mesoporous silica particles were prepared for efficient immobilization of the -glucuronidase (GUS) through a biomimetic mineralization process, in which the solution containing lysozyme and GUS were added into the prehydrolyzed tetraethoxysilane (TEOS) solution. The silica particles were formed in a way of biomineralization under the catalysis of lysozyme and GUS was immobilized into the silica particles simultaneously during the precipitation process. The average diameter of the silica particles is about 200 nm with a pore size of about 4 nm. All the enzyme molecules are tightly entrapped inside the biosilica nanoparticles without any leaching even under a high ionic strength condition. The immobilized GUS exhibits significantly higher thermal and pH stability as well as the storage and recycling stability compared with GUS in free form. No loss in the enzyme activity of the immobilized GUS was found after 30-day’s storage, and the initial activity could be well retained after 12 repeated cycles.

关键词： storage and recycling stability silica nanoparticles biocatalysis biomimetic synthesis β-glucuronidase encapsulation

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Engineering platelet-mimicking drug delivery vehicles

Quanyin Hu, Hunter N. Bomba, Zhen Gu

《化学科学与工程前沿（英文）》 2017年第11卷第4期页码 624-632 doi: 10.1007/s11705-017-1614-6

摘要： Platelets dynamically participate in various physiological processes, including wound repair, bacterial clearance, immune response, and tumor metastasis. Recreating the specific biological features of platelets by mimicking the structure of the platelet or translocating the platelet membrane to synthetic particles holds great promise in disease treatment. This review highlights recent advancements made in the platelet-mimicking strategies. The future opportunities and translational challenges are also discussed.

关键词： drug delivery platelets nanomedicine bio-inspired biomimetic