【作者】 王周义；

【导师】 戴振东； 吉爱红；

【作者基本信息】 南京航空航天大学 ， 机械设计及理论， 2009， 硕士

【摘要】 大壁虎运动反力测试系统用于测试壁虎在三种表面(水平面、墙面、天花板)上自由爬行过程中,脚掌与运动表面接触时产生的3维运动反力,并实时记录大壁虎运动的影像资料。该系统包括3维传感器阵列、信号调理与数据采集设备、图像采集设备以及专用测试软件。通过实验获得了大壁虎在水平面、墙面和天花板运动的大量实验数据,结合影像资料,比较分析了壁虎在三种表面爬行过程中脚掌与运动表面的运动反力。发现在不同表面运动,壁虎步足在运动中的功能存在差异,并从力学的角度对壁虎身体的运动规律做了初步的阐述。首次获得了壁虎在墙面与天花板表面运动过程中的初始接触力。比较了在两个表面运动中初始接触力的大小。分析了初始接触力与运动速度,初始接触力作用时间与速度之间的相互关系,并在此基础上分析单个脚趾受力情况,发现脚趾主受力方向为脚趾径向。通过测试大壁虎在不同的表面爬行过程中脚掌与表面的接触力,分析壁虎在爬行过程中的吸附机制和运动规律,从而深入理解动物保持高灵活性、稳定性和机动性的深层力学原因和神经控制机制,为类壁虎机器人的运动学和仿生学带来相关的启示。更多还原

【Abstract】 Gecko’s kinematics force measuring system is used to measure the reaction force between Gecko’s feet and the surface when it is crawling on all kinds of surface(on horizontal surface, on walls, on ceilings),and write down images of Gecko’s movement at the same time. The system is consisted by 3-dimensional sensor array,signal conditioning system,images requiring system and measuring software.A large number of force data were obtained by the test system after a great amount of experiment. By these force data and the image material,the regularity of three-dimensional contact force in horizontal,vertical and ceiling surface was researched,meanwhile,the affect of each paw to the locomotion of the gecko was analyzed in a single gait cycle. At last,a primary description about the gecko locomotion principle was acquired mainly focused on the force analysis.The preload force on the vertical surface and ceiling of the gecko was tested for the first time in this paper. The relationships between the preload force and the moving speed,the preload force and the contact time were studied in detail; the force of a single toe was analyzed as well.By measuring the different target surface reaction force,Gecko’s adhesion mechanism and locomotion were analyzed. It can help to understand the kinematics and neurology of animal’s locomotion. It sheds light on the study of animal’s locomotion. The results have obvious implications for inspired the design of bio-inspired robot by the gecko’s locomotion mechanism.更多还原