仿绿头鸭足趾-蹼协同运动的刚柔耦合变面积足抗沉陷机理研究

滩涂地面机械化作业的关键是解决移动机构的牵引通过性问题。绿头鸭足作为与地面直接接触的执行器，其结构形貌、材料组装、运动姿态等协同作用在抗沉陷运动中发挥了重要作用，为腿足式移动机构设计提供了理想的仿生原型。本项目拟从趾-蹼结构形貌、生物材料耦合组装、趾-蹼/双足协同运动策略等方面，研究绿头鸭足结构/行为与滩涂地面适应性接触的运动学和动力学问题，揭示绿头鸭足抗沉陷机理。基于工程仿生原理与技术，解决仿生足的趾-蹼结构形貌、刚柔材料耦合组装、趾-蹼联接与开闭驱动等关键问题；基于地面力学理论，研究仿生足的触地结构/行为与滩涂地面接触力学，建立面积-沉陷、压力-沉陷、牵引-沉陷等力学模型；最终整合结构、材料、运动姿态等研制出一款刚柔耦合变面积抗沉陷仿生足，并进行性能测试、迭代优化，从固-液混合物响应的细观行为，分析该仿生足的抗沉陷机理。本项目将为滩涂地面抗沉陷机器人足/步行轮足的研制提供解决方案。

The key to mechanized operation on the beach ground is to solve the problem of traction trafficability of mobile mechanism. Since the mallard foot is the main actuator in direct contact with the ground, its structural morphology, material assembly and motion posture as well as their coordination play an important role in anti-sinkage locomotion, which provides an ideal bionic prototype for the design of leg-foot mobile mechanism. To reveal the anti-sinkage mechanism of mallard foot, this project intends to study the kinematics and dynamics of the adaptive contact between the structure / behavior of mallard foot and the beach ground from the aspects of toe-web structural morphology, biomaterial coupling assembly, toe-web / bipedal synergetic locomotion strategy. Based on the principle and technology of bionic engineering, the key problems of bionic foot, such as toe-web structural morphology, rigid-flexible material coupling assembly, toe-web connection and opening and closing drive, will be solved. Based on the theory of terramechanics, the contact mechanics between the touchdown structure / behavior of bionic foot and the beach ground will be studied, and the mechanical models of area - sinkage, pressure - sinkage and traction - sinkage will also be established. Finally, a rigid-flexible coupling variable area anti-sinkage bionic foot will be developed by integrating the structure, material and motion posture, and the performance test and iterative optimization will also be carried out. The anti-sinkage mechanism of the bionic foot will be analyzed from the mesoscopic behavior of solid-liquid mixture response. This project will provide a solution for the development of anti-sinkage robot foot or walking wheel foot on the beach ground.