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动物足掌的吸附系统可分为刚毛型和光滑表皮垫型。相对于刚毛型,对光滑型足垫的形态学以及与湿吸机制有关的功能的研究非常少。以螽斯为研究对象,螽斯足上拥有光滑的吸附垫,靠足垫和足末端的钩子螽斯可以在竖直壁面爬行。为揭开足垫的构造及其力学特性,用原子力显微镜观察其表面的微观形貌,并用纳米压痕仪测试足垫的弹性模量。结果表明螽斯足垫表面和树蛙一样拥有特殊设计的五边形和六边形花纹,花纹之间有相通的细沟槽,沟槽内的黏液腺产生分泌液,从而在接触表面产生湿吸力。足垫非常柔软有弹性,足垫表面的弹性模量大小分布比较均匀,平均有效弹性模量为87 KPa,类似于硅橡胶。足垫的这些特点对产生较大的摩擦力和吸附力是非常重要的。研究结果可为机器人仿生吸附垫的研制提供参考。
Animal foot palm adsorption system can be divided into bristle-type and smooth skin pad type. Relative to the bristle type, there is very little research into the morphology of smooth footpads and the function associated with the wet suction mechanism. To 螽 Sri Lanka as the object of study, 螽 Sri Lanka Su foot on the pad with a smooth, foot pad and feet by the end of the hook 螽 Si can crawl in the vertical wall. To reveal the structure and mechanical properties of the footpad, the microstructure of the footpad was observed by atomic force microscopy and the elastic modulus of footpad was tested by nanoindentation. The results show that 螽s foot pad surface and tree frogs have the same special design pentagons and hexagonal patterns, there are between the pattern of fine grooves, mucus glands produce secretions in the groove, resulting in the contact surface wet suction. The foot pad is very soft and elastic. The elastic modulus of the foot pad surface is evenly distributed. The average effective modulus of elasticity is 87 KPa, which is similar to that of silicone rubber. These characteristics of the foot pad to produce greater friction and adsorption force is very important. The results can provide a reference for the development of robot biomimetic adsorption pads.