Effect of the Structural Characteristics on Attachment-Detachment Mechanics of a Rigid-Flexible Coupling Adhesive Unit.
Effect of the Structural Characteristics on Attachment-Detachment Mechanics of a Rigid-Flexible Coupling Adhesive Unit.
复制标题
DOI：
10.3390/biomimetics7030119
复制
发表时间：
2022-08-26
期刊：
影响因子：
--
通讯作者：
中科院分区：
文献类型：
--
作者：
粘附动物的末端趾具有刚柔耦合的特点，其结构与功能的关系是理解仿生粘附系统和仿生粘附单元设计中亟待解决的问题。本文受壁虎趾的刚柔耦合胶粘系统的启发，设计了一种刚柔耦合胶粘单元，测试了不同预紧力下胶粘剂的界面强度，建立了刚柔耦合胶粘单元压缩剥离过程的模型和分析方法。同时，结合实验测试，研究了刚-柔结构耦合机理对粘接单元压缩剥离过程中界面应力和最终剥离力的影响。研究发现，在一定范围内，胶粘剂单元长度L对体系的法向剥离力没有明显影响，法向剥离力随压缩力P的增大而线性增大;而粘合单元的倾角θ0和刚性背衬层的厚度hb对系统最终法向剥离力的影响呈现非线性特征，当粘结单元倾角θ0为5°，刚性背衬层厚度hb为0.2 mm或0.3 mm时，法向剥离力和粘结力与系统预载荷之比达到最大值。与柔性胶单元相比，在相同的压缩过程中，刚柔耦合胶单元形成的压缩区增大了6.7倍，而在相同的剥离力下，剥离区增大了8倍，剥离端最大法向拉应力减小了20倍。刚柔耦合机制改善了压缩和剥离过程中接触应力的均匀性。研究结果为刚柔耦合粘附单元的设计提供了指导，进而为仿生爬壁机器人末端执行器提供了刚柔耦合仿生设计。
The terminal toes of adhesive animals are characterized by rigid-flexible coupling, and their structure–function relationship is an urgent problem to be solved in understanding bioinspired adhesive systems and the design of biomimetic adhesive units. In this paper, inspired by the rigid-flexible coupling adhesive system of the gecko toe, a rigid-flexible coupling adhesive unit was designed, the interface strength of the adhesives under different preloads was tested, and the model and analysis method of the compression and peeling process of the rigid-flexible coupling adhesive unit was established. Meanwhile, combined with the experimental test, the effect of the coupling mechanism of the rigid-flexible structure on the interfacial stress and the final peeling force during the compression and peeling process of the adhesive unit was studied. The research found that the length of the adhesive unit L has no apparent effect on the normal peel force of the system within a specific range, and the normal peeling force increases linearly with the increase in the compression force P; while the influence of the inclination angle θ0 of the adhesive unit and the thickness of the rigid backing layer hb on the final normal peeling force of the system presents nonlinear characteristics, when the inclination angle θ0 of the adhesive unit is 5°, and the thickness of the rigid backing layer hb is 0.2 mm or 0.3 mm, the normal peel force and the ratio of adhesion force to preload the system reaches its maximum value. Compared with the flexible adhesive unit, the compressed zone formed by the rigid-flexible coupling adhesive unit during the same compression process increased by 6.7 times, while under the same peeling force, the peel zone increased by 8 times, and the maximum normal tensile stress at the peeling end decreased by 20 times. The rigid-flexible coupling mechanics improves the uniformity of the contact stress during the compression and peeling process. The research results provide guidelines for the design of the rigid-flexible coupling adhesive unit, further providing the end effector of the bionic wall-climbing robot with a rigid-flexible coupled bionic design.
登录
查看更多内容
影响因子：
25
作者：
Jiang, Hao;Hawkes, Elliot. W.;Cutkosky, Mark R.
通讯作者：
Cutkosky, Mark R.
影响因子：
5.5
作者：
Lu, XZ;Teng, JG;Jiang, JJ
通讯作者：
Jiang, JJ
影响因子：
3.4
作者：
KENDALL, K
通讯作者：
KENDALL, K
影响因子：
6.3
作者：
Li, Gen;Tan, Kang Hai;May, Michael
通讯作者：
May, Michael
影响因子：
5.4
作者：
Dimitri, R.;Trullo, M.;Zavarise, G.
通讯作者：
Zavarise, G.