仿壁虎脚趾结构设计及粘附运动性能测试  

Structure Design of Bionic Gecko's toe and the Adhesive Locomotion Performance Test

作　　者：俞志伟[1] 李宏凯[1] 张晓峰[1] 张昊[1] 戴振东[1] 

机构地区：[1]南京航空航天大学仿生结构与材料防护研究所,南京210016

出　　处：《机械工程学报》2011年第21期7-13,共7页Journal of Mechanical Engineering

基　　金：国家自然科学基金(60910007;51105201);国家高技术研究发展计划(863计划;2007ZA04Z201);中国博士后科学基金(20100471339);南京航空航天大学基本科研业务费专项科研(NS2010223)和南京航空航天大学引进人才科研启动基金(S0913-GXY)资助项目

摘　　要：壁虎具有在各种表面(如地面、墙面、天花板)上运动的超凡能力。根据大壁虎的脚趾结构及其粘附方式,模拟大壁虎脚趾,设计具有微小粘性褶皱和柔性悬臂结构的仿壁虎脚趾。用多用途摩擦粘附性能试验台,测定仿壁虎脚趾的粘附性能,即仿壁虎脚趾最大拉伸粘附力大小与粘附次数、拉伸角度、粘附轨迹等参数的关系。试验表明模拟壁虎脚趾研制的新型粘附脚趾具有和生物壁虎脚趾相近的粘附力学特性。将此脚趾用于仿壁虎机器人,成功地实现了仿壁虎机器人的90o爬壁。Gecko has a superb locomotive capacity on variety surface,such as the ground,walls,ceilings and other complex environment in space.By analyzing the locomotion of gecko＇s toe adhesion structure and adhesion methods,bionic gecko＇s toe is designed which has several minimal adhering folds with flexible cantilever structure.By using multipurpose friction force experimental platform,the adhesion performance of bionic gecko＇s toe is analyzed,including the changing of the maximum tensile adhesion force of bionic gecko＇s toe with the adhesion numbers,the different stretching angles,different adhesion trajectories,and so on.The experiment shows that bionic gecko＇toe has similar adhesion force performance with gecko＇s toe.When the bionic gecko＇s toe is designed for bionic gecko robot foot,the bionic gecko robot successfully achieves 90 degree wall-climbing movement.

关 键 词：仿壁虎脚趾 结构设计 粘附运动 性能测试 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]