Chameleons have developed a specialized ballistic tongue which elongates more than six times its rest length at speeds higher than 3.5 m s~(-1) and accelerations 350 m s~(-2), with a highly flexible mobile part, and which applies no continuous force during forward motion. These characteristics are possible because this tongue consists of two highly specialized systems, an ejection system for the forward motion and an accordion-like system for the retraction. Four manipulators inspired by the tongue of the chameleon and based on this design have been developed, resulting in three characteristics similar to the tongue of the chameleon: extensibility of the manipulator, flexibility of the mobile part, and absence of continuous force during the forward motion. The first manipulator mimics the basic mechanism of the tongue of the chameleon and reproduced its basic performances. A second manipulator performs a catching function at a speed of 3.5 m s~(-1) with an acceleration of 573 m s ~(-2) while elongating seven times its rest length. The design of this manipulator is such that the dc motor used for retraction applies a torque 25 times its rated torque. Moreover, during the retraction, the mobile part of the manipulator moves due to its own inertia, allowing the dc motor to rotate at full velocity. In another manipulator, the addition of an elastomer in the mobile part allows for control of the retraction velocity. A model for these two manipulators compares well with the experimental data. Finally, the addition of wings on the mobile part allows us to take the advantage of aerodynamic effects, which is unusual for manipulators.
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机译：变色龙开发了一种特殊的弹道舌，在高于3.5毫秒〜（-1）的速度和350毫秒〜（-2）的加速度下可伸长其静止长度的六倍以上，并具有高度灵活的活动部件，并且不施加连续力在向前运动期间。这些特征之所以可能是因为该舌头由两个高度专业的系统组成，即用于向前运动的弹出系统和用于回缩的类似手风琴的系统。已经开发了四种受变色龙舌头启发并基于此设计的机械手，从而产生了与变色龙舌头类似的三个特征：机械手的可扩展性，活动部件的灵活性以及在向前运动期间没有连续力。第一个操纵器模仿了变色龙舌头的基本机制，并再现了它的基本性能。第二机械手以3.5 m s〜（-1）的速度和573 m s〜（-2）的加速度执行抓取功能，同时将其静止长度延长了七倍。该机械手的设计使得用于回缩的直流电动机施加的扭矩是其额定扭矩的25倍。此外，在缩回期间，机械手的活动部分由于其自身的惯性而移动，从而使直流电动机以全速旋转。在另一种操纵器中，在活动部件中添加弹性体可以控制收缩速度。这两个机械手的模型与实验数据进行了比较。最后，在活动部件上增加机翼使我们能够利用空气动力学效果，这对于机械手而言是不常见的。
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