Incline-dependent adjustments of toes in geckos inspire functional strategies for biomimetic manipulators
Incline-dependent adjustments of toes in geckos inspire functional strategies for biomimetic manipulators
复制标题
DOI：
10.1088/1748-3190/ac6557
复制
发表时间：
2022-07-01
影响因子：
3.4
通讯作者：
Full, Robert J.
中科院分区：
文献类型：
--
作者：
Song, Yi;Weng, Zhiyuan;Full, Robert J.
壁虎通过在不同的复杂地形上快速机动而表现出多功能性，因为它们受益于分布的、覆盖刚毛的脚趾，因此有能力产生可靠和自适应的附着。人们对壁虎的粘附性微结构（刚毛）给予了极大的关注，但壁虎在脚趾和脚的水平上的适应性附着的有效性仍然不清楚。为了更好地理解壁虎的附着，我们首先关注脚趾的部署，同时挑战壁虎在不同的倾斜度上移动。当坡度小于30 °时，脚掌主要通过趾根部与基底相互作用，产生各向异性摩擦力。当倾斜角度增加到90度时，脚趾基底的参与减少。相反，刚毛的贡献增加了前足的中间三个脚趾和后足的前三个脚趾。随着倾斜从垂直到倒置，前脚脚趾的粘附贡献变得更加平等，而后脚的有效粘附接触逐渐转移到面向后方的脚趾。其次，建立了数学模型，并提出了分布式控制的脚趾之间的潜在优势，以调节脚的力量。最后，构建了一个包含五个顺应性可调节脚趾的物理足部模型，并验证了动物的发现。利用壁虎脚趾的控制策略，人工足表现出不同的行为调节附着力。足部原型的成功不仅测试了我们对生物附着机制的理解，而且还为壁虎启发的附着装置，抓取器和其他机械手的设计和控制提供了示范。
Geckos show versatility by rapidly maneuvering on diverse complex terrain because they benefit from their distributed, setae-covered toes and thus have the ability to generate reliable and adaptive attachment. Significant attention has been paid to their adhesive microstructures (setae), but the effectiveness of the gecko's adaptive attachment at the level of toes and feet remains unclear. In order to better understand the geckos' attachment, we first focused on the deployment of toes while challenging geckos to locomote on varying inclines. When the slope angle was less than 30 degrees, their feet mainly interacted with the substrate using the bases of the toes and generated anisotropic frictional forces. As the slope angle increased to 90 degrees, the participation of the toe bases was reduced. Instead, the setae contribution increased for the middle three toes of the front feet and for the first three toes of the hind feet. As the incline changed from vertical to inverted, the adhesive contribution of the toes of the front feet became more equal, whereas the effective adhesion contact of the hind feet gradually shifted to the toes oriented rearwards. Second, a mathematical model was established and then suggested the potential advantages of distributed control among the toes to regulate foot force. Finally, a physical foot model containing five compliant, adjustable toes was constructed and validated the discoveries with regard to the animals. Using the gecko toes' control strategies, the artificial foot demonstrated diverse behavior regulating attachment forces. The success of the foot prototype not only tested our understanding of the mechanism of biological attachment, but also provided a demonstration for the design and control of gecko-inspired attachment devices, grippers and other manipulators.