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基于蝗虫脚掌有利于稳定附着的主要几何形态和材料特性,设计了一种新型具花瓣型结构的机器人仿生脚掌结构,并利用非线性有限元方法对其进行了接触力学和抓地性能分析.同时,利用快速成型法制备了机器人仿生脚掌试样,对其进行摩擦性能实验,以验证有限元分析结果的可靠性,并在此基础上进一步对脚掌结构进行优化设计.研究结果表明,仿蝗虫脚的机器人脚掌结构具有优良的地面抓附能力.在保证机器人脚一定承载能力的条件下,花瓣数目越少,机器人脚掌的抓地性能越好.
Based on the main geometry and material properties of the locusts’ feet that are conducive to stable attachment, a novel bionic foot-footed robot structure with a petal-shaped structure is designed and the contact mechanics and grip performance analysis are carried out by using the nonlinear finite element method , The bionic palmprint samples of robots were prepared by rapid prototyping and the tribological properties of them were tested to verify the reliability of finite element analysis results and further optimize the design of the soles of the feet on the basis of the above results.The results show that, The foot structure of the robot has excellent ability of grasping the ground.When the robot foot is guaranteed to have a certain bearing capacity, the fewer the number of petals, the better the grip performance of the robot’s foot.