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以竹节虫的光滑足垫为仿生原型,提出一种用于爬壁机器人的新型黏附足垫,内部具有倾斜的仿纤维结构,表面有花纹微结构,基于湿吸机理产生黏附力.首先对湿吸模型进行讨论,在此基础上对足垫结构进行设计;然后对足垫的黏附方向性及自适应性进行深入分析;最后基于亲水性、黏弹性较强的热塑性弹性体(TPE)材料制备足垫.实验结果表明,提出的足垫具有较好的湿吸特性,在薄水膜介导下,法向黏附力约为0.65N,摩擦力约为3N,足垫表现出良好的黏附方向性及负载自适应性.
In this paper, a new type of sticking foot pad for climbing wall robot is proposed, which is a bionic prototype of a stick insect with a sloping imitation fiber structure and a textured microstructure on the surface, which produces adhesion based on the wet suction mechanism. Wet suction model was discussed. Based on this, the foot pad structure was designed. Then the adhesion direction and adaptability of the foot pad were analyzed. Finally, based on the hydrophilic and viscoelastic thermoplastic elastomer (TPE) The results showed that the proposed foot pad had better wet suction characteristics, the normal adhesion was about 0.65N and the frictional force was about 3N under the condition of thin water film, the foot pad showed a good Adhesion direction and load adaptability.