摘要
基于蝗虫脚掌有利于稳定附着的主要几何形态和材料特性,设计了一种新型具花瓣型结构的机器人仿生脚掌结构,并利用非线性有限元方法对其进行了接触力学和抓地性能分析.同时,利用快速成型法制备了机器人仿生脚掌试样,对其进行摩擦性能实验,以验证有限元分析结果的可靠性,并在此基础上进一步对脚掌结构进行优化设计.研究结果表明,仿蝗虫脚的机器人脚掌结构具有优良的地面抓附能力.在保证机器人脚一定承载能力的条件下,花瓣数目越少,机器人脚掌的抓地性能越好.
to the structural characteristics and material properties of locust＇s pads, a new kind of bionic robot foot with petal-type structure was designed. Its contact mechanics and grip performance was analyzed using finite element method. At the same time, the sample of bionic robot foot was made using rapid prototyping method and traditional manufacture method; the tribological properties of the sample were tested with CETR to verify the reliability of finite element analysis results. Furthermore, an optimum design of the robot foot structure was performed. The results demonstrate that this kind of the petal-type robot foot has great grip performance, and with a certain carrying capacity guarantee, the fewer the numbers of petal structure, the better the grip performance of the robot foot.
出处
《科学通报》
EI
CAS
CSCD
北大核心
2012年第26期2463-2468,共6页
Chinese Science Bulletin
基金
国家重点基础研究发展计划(2011CB302106)
国家自然科学基金(51175249
90916021
51005223
61175105
51105201)
江苏省自然科学基金(BK2009376)资助
关键词
蝗虫
机器人脚掌
仿生设计
有限元
locust, robot foot, bionic design, finite element method
