特種機(jī)器人驅(qū)動(dòng)機(jī)制的仿生研究.pdf

1、南京航空航天大學(xué)碩士學(xué)位論文特種機(jī)器人驅(qū)動(dòng)機(jī)制的仿生研究姓名：李明孜申請(qǐng)學(xué)位級(jí)別：碩士專業(yè)：機(jī)械設(shè)計(jì)及理論指導(dǎo)教師：戴振東2003.2.1特種機(jī)器人驅(qū)動(dòng)機(jī)制的仿生研究ABSTRACTThedesignforthespecialrobotfootdrawstheinspirationfromnaturewherethegeckocal3climbrapidlyupverticalsurface，evenacrosstheceilingMi

2、croscopyhasshownthatageckofoothasnearlyfivehundredthousandsetae，each301301tminlengthandapproximately5umindiameterThesetaformvanderWaalsbondswiththesurfacetofacilitateadhesionThesizeofcontactbetweenthesetaandthesurfaceisi

3、nmicroscaleThispaperintroducesthemicroscaleelastictheoryofadhesivecontact，whichcanbeusedtocalculatetheadhesiveforce，andtheapplicationoftheJKRtheoryinthesyntheticsetaAnautomaticmeasurementdeviceisdevelopedfortheselectiono

4、fthebionicmaterials，whichdependsonthecharacteristicsofadhesionandfrictionThispaperdescribesthesetupandproceduresusedtoobtainadhesionandfrictionof4samplesofpolyurethaneTheexperimentalresultsofsamplesofpolyurethaneshowthat

5、theadhesionincreaseswiththemagnitudeofnormalloadatthelogarithmicrule；thattangentialforceincreaseswithmagnitudeofnormalloadatthelogarithmicrule；andthattangentialforceincreaseswithmagnitudeofnegativenormalloadatthelinearru

6、leItisinstructionalsignificancefortheselectionofbionicmaterials、LastlythefrictioncoefficientofthesnakeisalsomeasuredusingthistestdeviceKeywords：gecko，vanderWaalsforce，micro—scaleadhesivecontact，adhesion，friction，polyuret