仿壁虎柔性脚掌结构及控制系统的研究  

Structure of Gecko Inspired Flexible Foot and Control System

作　　者：李冰[1,2] 汪小华[1] 于树林[1,2] 孙少明 梅涛[1,3] 

机构地区：[1]中国科学院合肥智能机械研究所,合肥230031 [2]中国科学技术大学,合肥230026 [3]先进制造技术研究所,常州213164

出　　处：《中国机械工程》2011年第8期897-900,共4页China Mechanical Engineering

基　　金：国家重点基础研究发展计划(973计划)资助项目(2011CB302106);国家自然科学基金资助项目(50905175)

摘　　要：采用仿壁虎微纳米黏附阵列材料,设计并研制了具有柔性的仿壁虎柔性脚掌。对该脚掌进行了力学分析与计算。仿壁虎柔性脚掌将伺服舵机作为脚掌外翻和展平的驱动器。由单片机对伺服舵机控制,以实现仿壁虎柔性脚掌的外翻和展平。通过实物样机试验,验证了设计的有效性和可行性。A compliant outward bend foot was designed,drawing inspiration from geckos,which used adhesion array to absorb.Mechanical analysis and computation were developed on the structure of this foot.The bionic flexible soles inspired foot＇s motion was controlled by using servo motor actuators.Controlling the servo motor by using single chip microcomputer,thus the bend and flat of foot were controlled.Through experiments by physical platform,the validity and feasibility of design were verified.

关 键 词：仿壁虎 柔性脚掌 伺服舵机 外翻 展平 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]