Self-Preloading Flexible Attachment Actuator with Multi-Mechanism Hierarchical Structure  

作　　者：Zhouyi Wang Qingsong Yuan Zhiyuan Weng Junsheng Yao Xuan Wu Lei Li Weipeng Li Yiping Feng Zhendong Dai 

机构地区：[1]College of Mechanical and Electrical Engineering,Nanjing University of Aeronautics and Astronautics,210016,Nanjing,China [2]State Key Laboratory of Mechanics and Control for Aerospace Structures,Nanjing University of Aeronautics and Astronautics,210016,Nanjing,China [3]Robotics Laboratory China,Nanhu Academy of Electronics and Information Technology,314000,Jiaxing,Zhejiang,China

出　　处：《Journal of Bionic Engineering》2024年第4期1830-1846,共17页仿生工程学报（英文版）

基　　金：supported by the National Key R&D program of China(2023YFE0207000);the National Natural Science Foundation of China(Grant No.51975283 and U22B2040);the Research Fund of State Key Laboratory of Mechanics and Control for Aerospace Structures(Grant No.1005-IZD2300225).

摘　　要：Flexible attachment actuators are popular in a wide range of applications,owing to their flexibility and highly reliable attachment.However,their reversible adhesion performance depends on the actual effective contact area and peel angle during operation.Therefore,a good actuator must ensure a uniform and reliable pre-pressure load on an adhesive surface,to increase the effective contact area of the attached surface,thereby maximizing adhesion.This study was inspired by fusion bionics for designing a hierarchical attachment structure with vacuum-adsorption and dry-adhesion mechanisms.The designed structure used the normal force under the negative pressure of a suction cup as a stable source of a pre-pressure load.By optimizing the rigid and flexible structural layers of the attachment structure,a load was applied uniformly to the adhesion area;thus,reliable attachment was achieved by self-preloading.The structure achieved detachment by exploiting the large deformation of a pneumatic structure under a positive pressure.The hierarchical attachment structure achieved up to 85%of the optimal performance of the adhesive surface.Owing to its self-preloading and reliable attachment characteristics,the designed structure can be used as an attachment unit in various complex scenarios,such as small,lightweight climbing platforms and the transport of objects in long,narrow pipelines.

关 键 词：Multi-mechanism attachment Self-preloading Hierarchical structure ADHESION Vacuum adsorption 

分 类 号：Q81[生物学—生物工程]