Reversible Adhesive Bio-Toe with Hierarchical Structure Inspired by Gecko.
Reversible Adhesive Bio-Toe with Hierarchical Structure Inspired by Gecko.
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DOI：
10.3390/biomimetics8010040
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发表时间：
2023-01-16
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影响因子：
--
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粘性动物的敏捷运动主要归因于其复杂的分层足和可逆的粘着运动。它们的结构-功能关系是理解生物粘合剂系统和仿生应用设计亟待解决的问题。本研究研究了壁虎脚趾的可逆粘附/释放行为和结构特性，设计了一种分层的粘性仿生脚趾（bio-toe），该脚趾由上层弹性执行器作为支撑/驱动层和下层仿生片层（bio-lamellae）作为粘合层组成，在双向压力驱动下可以可逆地粘附和释放目标。开发了非线性变形的数学模型和生物脚趾粘合接触的有限元模型。同时，结合实验测试，研究了结构和驱动对生物脚趾粘合行为和力学性能的影响。研究发现：（1）生物脚趾的弯曲曲率与压力近似呈线性，使生物脚趾能够可控地适应多种物体； (2)尽管接触姿势有±10°的倾斜，但板状生物片层仍能以小于0.5 N的低挤压接触实现60%的接触率； (3)生物脚趾在负压下向上弯曲，提供了足够的反弹力，释放成功率100%； (4)板状生物片生物趾的剪切粘附力与预紧力之比达到约12，高于大多数现有粘附单元和摩擦夹持单元。当用作机器人抓手和爬墙机器人的基本粘合单元时，生物脚趾表现出良好的适应性、负载能力和粘合可逆性。最后，所提出的具有分层结构的可逆粘合生物脚趾在太空、国防、工业和日常生活中具有巨大的应用潜力。
The agile locomotion of adhesive animals is mainly attributed to their sophisticated hierarchical feet and reversible adhesion motility. Their structure–function relationship is an urgent issue to be solved to understand biologic adhesive systems and the design of bionic applications. In this study, the reversible adhesion/release behavior and structural properties of gecko toes were investigated, and a hierarchical adhesive bionic toe (bio-toe) consisting of an upper elastic actuator as the supporting/driving layer and lower bionic lamellae (bio-lamellae) as the adhesive layer was designed, which can adhere to and release from targets reversibly when driven by bi-directional pressure. A mathematical model of the nonlinear deformation and a finite element model of the adhesive contact of the bio-toe were developed. Meanwhile, combined with experimental tests, the effects of the structure and actuation on the adhesive behavior and mechanical properties of the bio-toe were investigated. The research found that (1) the bending curvature of the bio-toe, which is approximately linear with pressure, enables the bio-toe to adapt to a wide range of objects controllably; (2) the tabular bio-lamella could achieve a contact rate of 60% with a low squeeze contact of less than 0.5 N despite a ±10° tilt in contact posture; (3) the upward bending of the bio-toe under negative pressure provided sufficient rebounding force for a 100% success rate of release; (4) the ratio of shear adhesion force to preload of the bio-toe with tabular bio-lamellae reaches approximately 12, which is higher than that of most existing adhesion units and frictional gripping units. The bio-toe shows good adaptability, load capacity, and reversibility of adhesion when applied as the basic adhesive unit in a robot gripper and wall-climbing robot. Finally, the proposed reversible adhesive bio-toe with a hierarchical structure has great potential for application in space, defense, industry, and daily life.
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