受网翅蠓幼虫启发的机器人粘附滑动仿生粘合盘

IF 6.4 2区计算机科学 Q1 ROBOTICS

Soft Robotics Pub Date : 2024-10-16 DOI:10.1089/soro.2023.0253

Haoyuan Xu,Jiale Zhi,Bohan Chen,Shuyong Zhao,Jie Huang,Chongze Bi,Lei Li,Bochen Tian,Yuchen Liu,Yiyuan Zhang,JinXi Duan,Fuqiang Yang,Xia He,Kun Xu,Ke Wu,Tianmiao Wang,Nguyen Pham,Xilun Ding,Li Wen

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引用次数: 0

摘要

网翅蠓幼虫（Blephariceridae）以其在水流湍急的高山溪流、瀑布和河流中的湿滑岩石表面附着和爬行的非凡能力而闻名。这种非凡的表现可归功于幼虫强有力的腹吸盘。在本文中，我们首先建立了一个考虑到接触区域润滑状态的活塞驱动吸盘理论模型。然后，我们实现了一个具有 V 形凹口的活塞驱动机器人吸盘，以探索粘附滑动机制。每个仿生幼虫吸盘都有一个独特的特征，即在其柔软的盘缘上有一个朝向前方的 V 形凹口；它沿着剪切方向滑动，同时整个盘面与底栖基质保持强大的粘附力，就像生物吸盘一样。我们发现，这种仿生物吸盘可通过活塞运动在 "高摩擦"（4.26 ± 0.34 kPa）和 "低摩擦"（0.41 ± 0.02 kPa）状态之间可逆转换，从而使摩擦力增强高达 93.9%。我们还阐明了 V 形凹槽造成的摩擦力各向异性（前进/后退力比：0.81）。为了展示这种粘附滑动机制在机器人领域的应用，我们设计了一种配备两个仿生腹吸盘的水下爬行机器人粘附滑动机器人-1（ASR-1）。这种机器人可以成功地在曲面、侧壁和悬臂等各种基底上爬行，并能在流速为 2.4 米/秒的湍流中逆流而上。此外，我们还实现了固定翼飞行器附着滑动机器人-2（ASR-2），其特点是由蠓幼虫启发的吸盘，可在水生环境中从快速水面滑行过渡到附着滑动。这种受网翅蠓幼虫启发的附着滑动机制可能为未来机器人在各种空中和水上环境中的长期观察、监测和跟踪能力铺平道路。

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A Biomimetic Adhesive Disc for Robotic Adhesion Sliding Inspired by the Net-Winged Midge Larva.

Net-winged midge larvae (Blephariceridae) are known for their remarkable ability to adhere to and crawl on the slippery surfaces of rocks in fast-flowing and turbulent alpine streams, waterfalls, and rivers. This remarkable performance can be attributed to the larvae's powerful ventral suckers. In this article, we first develop a theoretical model of the piston-driven sucker that considers the lubricated state of the contact area. We then implement a piston-driven robotic sucker featuring a V-shaped notch to explore the adhesion-sliding mechanism. Each biomimetic larval sucker has the unique feature of an anterior-facing V-shaped notch on its soft disc rim; it slides along the shear direction while the entire disc surface maintains powerful adhesion on the benthic substrate, just like the biological counterpart. We found that this biomimetic sucker can reversibly transit between "high friction" (4.26 ± 0.34 kPa) and "low friction" (0.41 ± 0.02 kPa) states due to the piston movement, resulting in a frictional enhancement of up to 93.9%. We also elucidate the frictional anisotropy (forward/backward force ratio: 0.81) caused by the V-shaped notch. To demonstrate the robotic application of this adhesion-sliding mechanism, we designed an underwater crawling robot Adhesion Sliding Robot-1 (ASR-1) equipped with two biomimetic ventral suckers. This robot can successfully crawl on a variety of substrates such as curved surfaces, sidewalls, and overhangs and against turbulent water currents with a flow speed of 2.4 m/s. In addition, we implemented a fixed-wing aircraft Adhesion Sliding Robot-2 (ASR-2) featuring midge larva-inspired suckers, enabling transit from rapid water surface gliding to adhesion sliding in an aquatic environment. This adhesion-sliding mechanism inspired by net-winged midge larvae may pave the way for future robots with long-term observation, monitoring, and tracking capabilities in a wide variety of aerial and aquatic environments.

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来源期刊

Soft Robotics ROBOTICS-

CiteScore

15.50

自引率

5.10%

发文量

128

期刊介绍： Soft Robotics (SoRo) stands as a premier robotics journal, showcasing top-tier, peer-reviewed research on the forefront of soft and deformable robotics. Encompassing flexible electronics, materials science, computer science, and biomechanics, it pioneers breakthroughs in robotic technology capable of safe interaction with living systems and navigating complex environments, natural or human-made. With a multidisciplinary approach, SoRo integrates advancements in biomedical engineering, biomechanics, mathematical modeling, biopolymer chemistry, computer science, and tissue engineering, offering comprehensive insights into constructing adaptable devices that can undergo significant changes in shape and size. This transformative technology finds critical applications in surgery, assistive healthcare devices, emergency search and rescue, space instrument repair, mine detection, and beyond.