THE PLANTS MOVEMENTS IDEAS FOR CREATING ROBOTS
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1 THE PLANTS MOVEMENTS IDEAS FOR CREATING ROBOTS Iulian POPESCU, Elena Alina BARBULESCU University in Craiova, Faculty of Mechanics It is analysed the moving of the plants and is shown the process of the transposition in moving of some using robots, for example, in medical surgeries. The idea that the actuation of a robot didn t make with classical systems (engines, transmissions) but with compressed-air jet, commanded and oriented thus the characteristics point to generate certain headings. Key words: bionics, mechanical movements plants, robots. 1. INTRODUCTION The vivid world has offered lots of examples of adapting to the environment by different means. Some solutions and principles from the vivid world have been transformed into mechanisms and equipment useful to the human being. The bionics has succeeded in correlating the biological aspects from the vivid world with the modern research based on electronics, mechatronics, etc. The scientific literature and lots of documentaries [Discovery, TV encyclopedia, National Geographic, Animal Planet] present equipment and robots which have as a basis the technical solutions from the vivid world. We hereby present some personal research concerning the use of some ideas offered by the plants movements when constructing robots. 2. PLANTS MOVEMENTS The botany treatises study the structure and physiology of plants as well as their classification in accordance with different criteria. There are no details regarding the movements of some plants parts because of the air current. In plants world, the movements can be classified as it follows: 1. Depending on the level they take place: - molecular movements: (complying modifications of enzymes) - sub-cell movements: (the protoplasmic currents, pumping the substances through membranes); - cell movements: (movements of unique cells, of leukocytes); - organ movements: (leaves movements); - movements of the multiple-cell organisms: (changing the body position). 2. In accordance with the methodological criterion: - materials transport between the vivid system and its environment (respiratory changes); - materials transport among the sub-systems of a vivid system (the transport through membranes, the sap circulation) - changes of position for some sub-systems in a vivid system (the movement of organs in the cell, the ciliate movements). In the specialized literature we can also distinguish the passive movements from the active ones. The passive movements appear because of the action of mechanical forces of some external environment factors and they take place without the participation of the energetic metabolism, of the motile mechanisms and of the adjusting mechanisms of vivid systems (the movement of a tree branch in the wind). The active
2 Iulian POPESCU, Elena Alina BARBULESCU 232 movements take place using the biological mechanical means, with the help of the plant metabolism (growing phenomena, osmotic forces). The mechanical movements of plants may be by infiltration, cohesion, and explosion. In [4] there have been studied some plants movements because of the infiltration, therefore obtaining some final forms of emery pieces cut under different angles (the porosity being variable with the texture of the paper). Such examples are given in figure 1, where the Hs indicate the direction of the line for the emery paper. The curved shapes have been obtained after the bands were wetted and then dried. Fig.1 Trees are wooden species with movements in their roots, trunks and treetops. When the wind blows, the treetop, the branches and the trunks move. These movements are more obvious in the case of stalks which have a structure presented by figure 2. Fig.2 3. ORGANIZING THE RESEARCH It was started from the idea that the air around plants is in a continuous, variable movement depending on the size and direction of the air current which actions in a certain area of the plant. The plants leaves move under the action of air blow with variable pressures, and, because of the elasticity of leaves petiole, they bend opposite to the air direction. Because of this bending, air will first action under an angle in relation to the leaves plan (figure 3), and after its movement, in tangential direction. (figure 4).
3 233 The plants movements ideas for creating robots A Fig.3 Detail of A Fig.4 Fig.5 The leave will come back to its original position because of the petiole s elasticity. While the air jets action on the leaves on different directions from the tangential ones, the leaves make the petiole air current and the forces are transmitted to the branch or to the trunk which becomes an elastic bar for several forces with directions in different plans (figure 5). The general movement of a plant under the action of wind may be studied in order to create some mechanical systems that would use the same principles. Under the action of a well-determined forces system, a plant has a determined movement. The current calculation methods used in engineering do not allow the determination, by calculation, of the real movement of a plant, since the mechanic and resistance characteristics of the different parts of plants are not known. Studying the movement of a plant under the action of some controlled air blows, as direction but also as pressure and debit, some principles with technical applicability can be settled. Therefore, if an elastic metal bar had several plates similar with the leaves on it (figure 6) and air jets will be directed only on some directions and with certain parameters, a controlled movement would be obtained. A Fig.6 Thus we can make the analysis of an elastic system submitted to air jets. We can determine the directions of the different points on the elastic bar, the inflexion and torsion arrows in different areas, the demand in different sections, the vibration parameters which appear, etc.
4 Iulian POPESCU, Elena Alina BARBULESCU 234 In figure 6 we consider 3 leaves articulated by the metallic bar, being blown by an air jet with constant direction. The trajectory generated by point A under these forces was traced. The bars equivalent to the forces may be simply articulated on the metallic bar or may have elastic elements that maintain them in certain positions up to a certain force, which challenge them from exterior. These elements can be displaced in accordance with the air movement parameters that can be determined. On such studies an adequate geometry of a mechanic system based on the plants movements can be settled. The problem of synthesis of a robot mechanism based on the movement of plants is formed of the establishment of the geometry of mechanism and of fluid s parameters which would ensure a certain trajectory to the characteristic point. Such a problem may be used in some medical robots. The advantage of such a construction is the elimination of the movement transmission from a motor placed at the base to different points of the robot. We can imagine a system like in figure 7 where the characteristic point should form a certain trajectory because of the air s parameters and the plates geometry and the cinematic chain of the robot. A Fig.7 An installation like the one in figure 7 is useful for experimental research in order to establish the resulted movements for different geometry and air parameters so that on the observations the usable parameters for the real installation can be established. 4. PERFORMED RESEARCH A stand similar to that in figure 7 was established and we filmed with a SONY CCD type G600 camera, from a fixed point, the movements of the branches reported to a reference system with graded plates and laterally placed. For certain points from the plant, projections of the trajectories in vertical plan have been obtained. Figure 8 presents one of these positions and the coordinates of the points marked by squares.
5 235 The plants movements ideas for creating robots Fig.8. The plant during the experiment X1= mm; X2= mm Y1= mm; Y2= mm; t=0.04 sec. The diagram from figure 9 shows the projection of the trajectory of the upper point on the vertical plan corresponding to the movement of the plant in one second. [ ] X[mm] Fig. 9 We can see that the trajectory is a very complicated one, which suggests the great possibilities of generating some points trajectories from the robots if we use the principles from the plants movement. 5. USING PLANTS MOVEMENT FOR ROBOTS We showed above that, by directing some pressed air jets on a plant s leaves, we could obtain very complicated movements. If the parameters of the pressed air, the direction and the length of the jets are modified, we can obtain very complex trajectories for the interest points. Such trajectories may be useful in robots since their acting means is simplified. Therefore, robots are usually operated by mechanic systems (chains, belts, and gears) which take over the movement from the engines positioned on holster. There are also robots which are operated using engines step by step, or using hydraulic or pneumatic motors. All these solutions need transmitting systems, cables, hoses, etc., which complicate the robot s construction and may block some movements.
6 Iulian POPESCU, Elena Alina BARBULESCU 236 The suggested solution is similar to figure 7, that is it uses a pipe from plastic material placed on a propeller around the robot, and, using pressed air jets directed on some plates similar to leaves, very complex movements can be obtained. 6. CONCLUSIONS The plants movements are of a high diversity in accordance with the different parts of the plants structure. We have hereby studied the trunks and stalks movements caused by some air currents. By using some controlled air jets, we can easily operate the robots. The robots operated by air jets may generate complex movements being useful in medicine as an example. REFERENCES 1. BRADSHAW, A.D., CHADWICK, M.J. - The Retaration of Land, Blackwell Scientific Publication, Oxford, London, OPRIS, TUDOR. - The amazing producers of nature, Ion Creanga Publication, Bucharest, PETERFI, ST., SALAGEANU, N. - The Plants Physiology, Didactic and Pedagogical Publication, Bucharest, POPESCU, IULIAN. - Plants movements, usable in the construction of industrial automate, Mero, vol. III, pag , STANESCU, VICTOR Dendrology, Didactic and Pedagogic Publishing House, Bucharest, WITTENBERGER, C., KEUL, M. - The movements mechanisms in the vivid world, The Academy Publishing House, RSR Bucharest, 1987.
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