【作者】 刘彬；

【导师】 戴振东；

【作者基本信息】 南京航空航天大学 ， 机械工程， 2009， 硕士

【摘要】 仿生微粘附阵列在特种爬壁机器人领域具有重要的应用前景。作为一种基于干性粘附的功能粘附材料,仿壁虎微粘附阵列具有粘附与脱附可控、对接触表面无损伤、自清洁、可反复使用等优点。本文设计并制备了一种新型的倾斜仿壁虎微粘附阵列。为了防止微粘附支杆工作时发生坍塌、折断、失稳和聚结等方式的失效,分别针对粘附支杆的强度,刚度及稳定性进行分析,确定粘附支杆各个结构的相关参数。理论计算表明:粘附支杆倾斜20°,斜截面为45°时,阵列具有较为理想的粘附性能,且具有这种结构的粘附阵列可便利地调控吸附和脱附。然后针对浇注材料,阵列的基底厚度及密集度等进行分析,确定相应的各个阵列参数。文中还设计并加工了微型浇注模具,提出利用聚合物浇注负顶模来浇注粘附阵列的制备方法,有效地改善了粘附阵列的形貌特性,提高了阵列的粘附性能。最后利用硅橡胶和聚氨酯材料分别制备了两种不同结构的微粘附阵列,并对其进行粘附性能的测试。测试结果表明,该粘附阵列法向粘附强度可达0.31 N/cm2,切向粘附强度可达0.64 N/cm2,尽管微阵列的粘附性能相对于壁虎脚掌具有很大的差距,但其具有各向异性、可控吸附与脱附等粘附特性,在一定程度实现了功能上的仿生。本文以设计、制备及测试微粘附阵列为研究重点,为调控微粘附阵列自主吸附、脱附提供了理论、实验方面的依据,为仿壁虎机器人的粘附脚掌研究提出了有益的启示。更多还原

【Abstract】 Biomimetic adhesive arrays are important to advanced climbing robot. As a kind of functional adhesive material based on dry adhesion, the gecko-inspired adhesive arrays have many advantages such as controllable attachment and detachment, harmless to the contact surfaces, self-cleaning property, durability, and so on.A novel lean gecko-inspired adhesive array is developed in this thesis. Firstly, the structure parameters of the biomimetic adhesive arrays are put forward. To avoid fibrillar breakdown, buckling, collapse and clumping, the required parameters of strength, stiffness, stability and anti-clumping are designed respectively. Theoretical calculation indicates that the resulted array have desired adhesion property when the lean angle is about 20°, cross surfaces angle is about 45°. Meanwhile, the array parameters are designed mainly focused on pouring material, substrate thickness and density. Then, the pouring micro mold is designed and manufactured. A new casting process use negative polymer up-mould is put forward based on the analysis of curing and demoulding characteristics. The shape and adhesion of the array is greatly improved by using this process. At last, two kind of adhesive arrays with different structure are poured with silicon rubber and polyurethane respectively, the adhesion characteristic is tested as well. The results show the normal and tangential adhesion is about 0.31 N/cm2 and 0.64 N/cm2. Although is poor compared with the gecko adhesion, the biomimetic adhesive arrays are anisotropy and controllable in attachment and detachment, achieve the function of gecko adhesion at a certain degree.Here, we focus on the design, manufacture and test of the adhesive arrays, present the theoretical and experimental basis to the controllable attachment and detachment of the adhesive array, and propose an available enlightenment to the gecko-inspired robot adhesive paw.更多还原