基于MATLAB的仿壁虎机器人天花板粘附运动仿真  

Locomotion Simulation of Gecko Robot Moving on the Ceiling Based on MATLAB

作　　者：陈建敏[1,2] 俞志伟[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,江苏南京210016 [2]南京航空航天大学机电学院,江苏南京210016

出　　处：《系统仿真技术》2011年第4期254-260,共7页System Simulation Technology

基　　金：国家自然科学基金资助项目(60910007;51105201);中国博士后科学基金资助项目(20100471339);南京航空航天大学基本科研业务费专项科研资助项目(NS2010223);南京航空航天大学引进人才科研启动基金资助项目(S0913-GXY)

摘　　要：壁虎脚掌具有"范德华力"的干粘附特性,而实现仿壁虎机器人在负表面(如天花板)运动具有极高的难度,基于MATLAB/SimMechanic建立了仿壁虎机器人动力学模型。采用变弹性阻尼模型构建粘附力模型,模拟脚掌的粘附力各向异性。利用规划的负表面步态进行天花板粘附运动仿真,仿真表明仿壁虎机器人能按照预定的步态实现天花板的粘附运动,而天花板的非稳定性扰动来自脚掌粘附支撑相和脱附摆动相的交替处,为未来仿壁虎机器人天花板爬行实验提供仿真参考数据。Geckos have the dry adhesive feet that can provide the Vander Waals force, but it is quite difficult for gecko robot to move on the ceiling. Dynamic model of gecko robot is created with MATLAB/SimMechanic. A elastic damping model of the directional adhesive material on robot＇ s foot is built. The crawling behavior of the robot on the ceiling is simulated with planned gait. The experiment results show that the robot can move we expected and the main perturbation in locomotion is induced by the change of alternation between the foot＇ s stance period and swing period. It provides references for the future experiment of gecko robot moving on the ceiling.

关 键 词：仿壁虎机器人 天花板运动 粘附力模型 MATLAB/SimMechanics 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]