鸟颈刚柔耦合维稳生物力学机理研究

Anti-shake technology is suitable for the occasion when high image quality is required in engineering. The current anti-shake stabilizer has a limited adjustment range and cannot adapt to complex and variable engineering environments. It is extremely urgent to develop high-adaptive anti-shake technology. The unique stability characteristics of the bird's neck can provide beneficial insights to solve this problem. This project takes the typical bird goose neck as the research object, which plans to use CT, MRI, ultrasonic imaging technology and coupled bionics theory to study the bone-muscle-joint structural, material and connection parameters of the goose neck, reveal the rigid-flexible coupling principle of goose neck structure, and establish a solid model of bone-muscle-joint with nonlinear structure and material. The bi-plane X-ray technique is apply to study in vivo active/passive motion characteristics of the gooseneck, obtain the range of joint motion and multi-joint coupling motion of the neck, and verify the validity of the model. Based on the model, biomechanical analysis method is used to theoretically analyze the kinematics and dynamic response of the structural characteristics of bones, muscles and joints under complex posture compensation motion, revealing the goose The multi-factor synergy mechanism of the structural characteristics of the neck posture stabilization, which provides theoretical guidance for the development of new anti-shake technology.

防抖技术适用于工程领域需要高成像质量的场合。当前的防抖稳定器调节范围有限，无法适应工程复杂多变、特殊极端环境，开发高适应性的防抖技术迫在眉睫。鸟类颈部特有的维稳特性可为解决这一难题提供有益启示。本项目以典型鸟类-鹅颈部为研究对象，拟采用CT、MRI、超声波成像技术、耦合仿生学理论，研究颈鹅部骨骼-肌肉-关节结构、材料和连接特征参数，揭示鹅颈部结构刚柔耦合原理，建立骨骼-肌肉-关节非线性结构材料实体模型；采用活体双平面X-光技术，研究鹅颈部活体主/被动运动特性，获取颈部各个关节运动范围与多关节耦合运动规律，验证模型有效性并细化模型；采用生物力学分析方法，基于所建模型，理论分析骨骼、肌肉、关节结构特性在复杂调姿补偿运动状态下的运动学、动力学响应，揭示鹅颈部调姿维稳的结构特征多因素协同作用机制，为新型防抖技术开发提供理论指导。

为了满足工程领域中各种复杂环境条件对防抖技术的苛刻要求，受鸟类颈部维持头部空间不动从而达到稳定视觉这一生物功能启发，本项目以典型鸟类颈部为研究对象，采用计算机断层扫描技术和三维逆向重建技术，发现鹅和鸭颈部关节形态和结构特征相似，鹅颈椎间关节和小关节相比鸭颈运动范围更大，即鹅颈比鸭颈更灵活。后续研究选择鹅颈，利用双平面X光技术，发现鹅颈维稳效果在前后和上下方向显著，分析C4-C8各相邻关节空间旋转角位移，重点分析鹅颈椎关节的维稳运动特性。建立仿鸟颈机构D-H数学模型，并对其每一关节的运动参数进行了正向运动学求解和逆向运动学求解，为仿鸟颈机器人维稳运动规划提供了理论基础。