自适应和健壮的可切换粘附系统:章鱼和壁虎的仿生协同集成。

IF 6.1
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引用次数: 0

摘要

现有的攀爬机器人在有限的表面类型上实现稳定的运动。然而,使单一的机器人设计适应各种表面形状仍然是一个巨大的挑战。基于壁虎足的范德华力(vdW)力介导的粘附机制和章鱼吸盘的负压,提出了一种气动驱动可切换粘附系统(SAS)的仿生集成策略。SAS包括一种负责产生vdW力的粘合剂材料和一个具有膜结构的吸盘,可以产生真空吸力。由于非线性叠加效应,该SAS的附着力比真空吸力和真空吸力的代数叠加高56.4%。此外,SAS通过气动调节提供了粘附和脱离之间的快速切换,实现了适应性、鲁棒性和承载效率之间的协同平衡。配备SAS,我们开发了一种气动电动四足爬行机器人,可以爬上不同倾斜角度的平面和不同曲率的表面。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Adaptive and Robust Switchable Adhesion System: Bio-Inspired Synergistic Integration from Octopuses and Geckos.

Existing climbing robots achieve stable movements on limited surface types. However, adapting a single robot design to various surface shapes remains a substantial challenge. Based on the van der Waals (vdW) force-mediated adhesion mechanism of a gecko foot and negative pressure from octopus suckers, this study introduces a biomimetic integration strategy for designing and fabricating a pneumatically actuated switchable adhesion system (SAS). The SAS includes an adhesive material responsible for generating vdW forces and a suction cup with a membrane structure that enables a vacuum suction force. Owing to nonlinear superposition effects, this SAS exhibited a 56.4% higher adhesion force than the algebraic superposition of the vdW and vacuum suction forces. Moreover, the SAS offers a quick switch between adhesion and detachment through pneumatic modulation, achieving a synergistic balance between adaptability, robustness, and load-bearing efficiency. Equipped with this SAS, we developed a pneumo-electrically actuated quadruped-climbing robot that can climb planes with different tilt angles and surfaces with different curvatures.

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