大壁虎运动反力实验研究
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摘要
大壁虎运动反力测试系统用于测试壁虎在三种表面(水平面、墙面、天花板)上自由爬行过程中,脚掌与运动表面接触时产生的3维运动反力,并实时记录大壁虎运动的影像资料。该系统包括3维传感器阵列、信号调理与数据采集设备、图像采集设备以及专用测试软件。
通过实验获得了大壁虎在水平面、墙面和天花板运动的大量实验数据,结合影像资料,比较分析了壁虎在三种表面爬行过程中脚掌与运动表面的运动反力。发现在不同表面运动,壁虎步足在运动中的功能存在差异,并从力学的角度对壁虎身体的运动规律做了初步的阐述。
首次获得了壁虎在墙面与天花板表面运动过程中的初始接触力。比较了在两个表面运动中初始接触力的大小。分析了初始接触力与运动速度,初始接触力作用时间与速度之间的相互关系,并在此基础上分析单个脚趾受力情况,发现脚趾主受力方向为脚趾径向。
通过测试大壁虎在不同的表面爬行过程中脚掌与表面的接触力,分析壁虎在爬行过程中的吸附机制和运动规律,从而深入理解动物保持高灵活性、稳定性和机动性的深层力学原因和神经控制机制,为类壁虎机器人的运动学和仿生学带来相关的启示。
Gecko’s kinematics force measuring system is used to measure the reaction force between Gecko’s feet and the surface when it is crawling on all kinds of surface(on horizontal surface, on walls, on ceilings),and write down images of Gecko’s movement at the same time. The system is consisted by 3-dimensional sensor array,signal conditioning system,images requiring system and measuring software.
A large number of force data were obtained by the test system after a great amount of experiment. By these force data and the image material,the regularity of three-dimensional contact force in horizontal,vertical and ceiling surface was researched,meanwhile,the affect of each paw to the locomotion of the gecko was analyzed in a single gait cycle. At last,a primary description about the gecko locomotion principle was acquired mainly focused on the force analysis.
The preload force on the vertical surface and ceiling of the gecko was tested for the first time in this paper. The relationships between the preload force and the moving speed,the preload force and the contact time were studied in detail; the force of a single toe was analyzed as well.
By measuring the different target surface reaction force,Gecko’s adhesion mechanism and locomotion were analyzed. It can help to understand the kinematics and neurology of animal’s locomotion. It sheds light on the study of animal’s locomotion. The results have obvious implications for inspired the design of bio-inspired robot by the gecko’s locomotion mechanism.
通过实验获得了大壁虎在水平面、墙面和天花板运动的大量实验数据,结合影像资料,比较分析了壁虎在三种表面爬行过程中脚掌与运动表面的运动反力。发现在不同表面运动,壁虎步足在运动中的功能存在差异,并从力学的角度对壁虎身体的运动规律做了初步的阐述。
首次获得了壁虎在墙面与天花板表面运动过程中的初始接触力。比较了在两个表面运动中初始接触力的大小。分析了初始接触力与运动速度,初始接触力作用时间与速度之间的相互关系,并在此基础上分析单个脚趾受力情况,发现脚趾主受力方向为脚趾径向。
通过测试大壁虎在不同的表面爬行过程中脚掌与表面的接触力,分析壁虎在爬行过程中的吸附机制和运动规律,从而深入理解动物保持高灵活性、稳定性和机动性的深层力学原因和神经控制机制,为类壁虎机器人的运动学和仿生学带来相关的启示。
Gecko’s kinematics force measuring system is used to measure the reaction force between Gecko’s feet and the surface when it is crawling on all kinds of surface(on horizontal surface, on walls, on ceilings),and write down images of Gecko’s movement at the same time. The system is consisted by 3-dimensional sensor array,signal conditioning system,images requiring system and measuring software.
A large number of force data were obtained by the test system after a great amount of experiment. By these force data and the image material,the regularity of three-dimensional contact force in horizontal,vertical and ceiling surface was researched,meanwhile,the affect of each paw to the locomotion of the gecko was analyzed in a single gait cycle. At last,a primary description about the gecko locomotion principle was acquired mainly focused on the force analysis.
The preload force on the vertical surface and ceiling of the gecko was tested for the first time in this paper. The relationships between the preload force and the moving speed,the preload force and the contact time were studied in detail; the force of a single toe was analyzed as well.
By measuring the different target surface reaction force,Gecko’s adhesion mechanism and locomotion were analyzed. It can help to understand the kinematics and neurology of animal’s locomotion. It sheds light on the study of animal’s locomotion. The results have obvious implications for inspired the design of bio-inspired robot by the gecko’s locomotion mechanism.
引文
[1]郑秀丽,郑浩峻,陈恳,等.机器人仿生学研究综述,机器人,2002,24(2):188-192
[2]机器人技术软科学研究组.我国机器人技术需求分析与研究重点探索.机器人技术与应用,2001,2:1-5
[3]刘呈则,朱新坚.自导向磁吸附爬壁机器人控制系统的实现.测控技术,2004,23(12):43-45
[4]谈士力,万德钧,龚振邦.真空气吸附壁面行走机器人动态路径规划.东南大学学报,26(5):89-94
[5]王辉静.仿壁虎微纳米阵列的粘附机理与控制方法研究[博士学位论文].合肥:中国科学技术大学,2006
[6]戴振东,孙久荣.壁虎的运动及仿生研究进展.自然科学进展,2006,16(5):519-523
[7] Full R J,Tu M S.Mechanics of a rapid running insect:two-,four,and six- legged locomotion.Journal of Experimental Biology,1991,156:215-231
[8] Full R J,Autumn K,Chung J I,et al.Rapid negotiation of rough rough terrain by the death-head cockroach.American zoologist,1998,38(5):81A
[9] Rode N J.A simple biogically inspired walking robot.27th Intl. Symp. On Industrial Robots,ISIR’96,6-8 Oct.1996,Milan,Italy
[10] Nelson G M,Quinn R D.Posture control of a cockroach-like robot.IEEE Intl.Conf.on Robotics and Automation 1998,Leuven,Belguim
[11] Gorb S N,Peressadko A,Spolenak R,et al.Biological hairy attachment devices as a protptype for artificial adhesive systems.Proceedings of the First International Industrial Conference,Bionik:2004,237-242
[12]美国Newscientist杂志主页http://www.newscientisttech.com/channel/tech/mg19025526.500.html
[13] Sitti M,Fearing R S.Nanomolding Based Fabrication of Synthetic Gecko Foot-Hairs.IEEE conference on Nanotechnology,2002,Aug. 26-28,Washington DC
[14] Geim A K,Dubonos S V,Grigorieva I V,et al.Microfabricated adhesive mimicking gecko foot-hair.Nature Materials,2003,2(7) :461-463
[15] Kellar Autumn,Yiching A. Liang,S. Tonia Hsieh,et al.Adhesive force of a single gecko foot-hair,Nature,2000,405(8):681-685
[16] Full R J,Kubow T,Schmitt J,et al.Quantifying Dynamic Stability and Maneuverability in Legged Locomotion.Integrative and Comparative Biology,2002,42(2):149-157
[17] Full R J,Blickhan R,Ting L H.Leg Design in Hexapedal Runners.Journal of Experimental Biology,1991,158:369-390
[18] Full R J,Yamauchia D L,Jindrich D L.Maximum Single Leg Force Production:Cockroaches Righting on Photoelastic Gelatin.Journal of Experimental Biology,1995,198:2441–2452
[19] Bartsch M S,Federleb W,Full R J,et al.Small Insect Measurements Using a Custom MEMS Force Sensor.The 12th International Conference on Solid Slate Sensors,Actuators and Microsystems,Boston,2003:1039-1042
[20] Bartsch M S.Micromachined Transducers for Insect Ground Reaction Force Measurement,[PhD.Dissertation].California:Stanford University,2003:179-216
[21] Irschick D J,Austin C C,Petren K,et al.A Comparative Analysis of Clinging Ability among Pad-bearing Lizards.Biological Journal of the Linnean Society,1996,59(l):21-35
[22] Yu Sun,Fry S N,Postasek D P,et al.Fruit Fly Flight Behavior Characterization Using MEMS Force Sensors.Journal of Microelectromechanical Systems,2005,14(1):4-11
[23] Gorb S N.Attachment of insects.The 4th Shanghai Roundtable,Nature as Engineer and Teacher:Learning for technology from biological systems,Oct. 8~11,2003
[24] Goldman D I,Chen T S, Dudek D M.Dynamics of rapid vertical climbing in cockroaches reveals a template.Journal of Experimental Biology,2006,209:2990-3000
[25]中国野生动物保护协会.中国爬行动物图鉴.郑州:河南科学技术出版社,2002
[26]杜世章,陈立侨,刘定震.中国壁虎属Gekko动物系统学研究进展.四川动物,2002,21(3):200-204
[27]张正杰.壁虎脚掌3维接触力测试系统研制[硕士学位论文].南京:南京航空航天大学,2006
[28]孙希任,许第昌,李增瑜.计算器在压力传感器性能指标计算中的应用.北京:航空工业部第三零一研究所,1987,7-10
[29]肖世旭.大壁虎的三维步态实验及分析[硕士学位论文].南京:南京航空航天大学,2006
[30] Kuwana Y , Shimoyama I . Steering Control of a Mobile Robot Using Insect Antennae.Proceedings of the IEEE IROS’95 conference in Pittsburgh,1995
[31]丁光,陈振昆.大壁虎(Gekko Gecko)附肢肌的解剖.云南农业大学学报,1995,10(1):12-17
[32]蔡雷,崔希云,艾洪宾.中华大蟾蜍脊髓灰质神经元构筑和脊神经的研究.山东师范大学学报(自然科学版),2007,22(3):104-106
[33]刘晓燕,戴振东,曾小龙,等.大壁虎附肢肌的定量研究.解剖学研究.2005,27(4):292-301
[34] Tian Y,Pesika N,Zeng H,et al.Adhesion and friction in gecko toe attachment and detachment.PNAS,2006,103:19320-19325
[35] Zhendong Dai,Jirong Sun,David Yue ,et al.Mrophology and contact mechanics influence adhesive characteristics at Dung Beetle’s setae.Progress in natural science,2007,17:1074-1081
[36] K Autnmn,M.Sitti,Yiching A,et al.Evidence for van der waals adhesion in gecko setae.PNAS,2002,99:12252-12256
[37] Maderson , P.F.A.Keratinized epidermal derivatives as an aid to climbing in gekkonid lizards.Nature,1963,780-781
[38] Russell A P.A contribution to the functional morphology of the foot of the tokay,Gecko gecko(Reptilia,Gekkonidae).Journal of Zoology,1975,176,437-476
[39] Huber G,Mantz H.,Spolenak H,et al.Evidence for capillarity contributions to gecko adhesion from single spatula nanomechanics measurements.PNAS,2005,102(45):16293-16296
[40] Qu L T,Dai L M,Stone M,et al.Carbon nanotube arrays with strong shear bingding-on and easy normal Lifting-off .Science,2008,322:238-242
[41] Ge L H.,Sethi S, Ci L J,et al. Carbon nanotube-based synthetic gecko tapes.PNAS,2007,104(26):10792-5
[2]机器人技术软科学研究组.我国机器人技术需求分析与研究重点探索.机器人技术与应用,2001,2:1-5
[3]刘呈则,朱新坚.自导向磁吸附爬壁机器人控制系统的实现.测控技术,2004,23(12):43-45
[4]谈士力,万德钧,龚振邦.真空气吸附壁面行走机器人动态路径规划.东南大学学报,26(5):89-94
[5]王辉静.仿壁虎微纳米阵列的粘附机理与控制方法研究[博士学位论文].合肥:中国科学技术大学,2006
[6]戴振东,孙久荣.壁虎的运动及仿生研究进展.自然科学进展,2006,16(5):519-523
[7] Full R J,Tu M S.Mechanics of a rapid running insect:two-,four,and six- legged locomotion.Journal of Experimental Biology,1991,156:215-231
[8] Full R J,Autumn K,Chung J I,et al.Rapid negotiation of rough rough terrain by the death-head cockroach.American zoologist,1998,38(5):81A
[9] Rode N J.A simple biogically inspired walking robot.27th Intl. Symp. On Industrial Robots,ISIR’96,6-8 Oct.1996,Milan,Italy
[10] Nelson G M,Quinn R D.Posture control of a cockroach-like robot.IEEE Intl.Conf.on Robotics and Automation 1998,Leuven,Belguim
[11] Gorb S N,Peressadko A,Spolenak R,et al.Biological hairy attachment devices as a protptype for artificial adhesive systems.Proceedings of the First International Industrial Conference,Bionik:2004,237-242
[12]美国Newscientist杂志主页http://www.newscientisttech.com/channel/tech/mg19025526.500.html
[13] Sitti M,Fearing R S.Nanomolding Based Fabrication of Synthetic Gecko Foot-Hairs.IEEE conference on Nanotechnology,2002,Aug. 26-28,Washington DC
[14] Geim A K,Dubonos S V,Grigorieva I V,et al.Microfabricated adhesive mimicking gecko foot-hair.Nature Materials,2003,2(7) :461-463
[15] Kellar Autumn,Yiching A. Liang,S. Tonia Hsieh,et al.Adhesive force of a single gecko foot-hair,Nature,2000,405(8):681-685
[16] Full R J,Kubow T,Schmitt J,et al.Quantifying Dynamic Stability and Maneuverability in Legged Locomotion.Integrative and Comparative Biology,2002,42(2):149-157
[17] Full R J,Blickhan R,Ting L H.Leg Design in Hexapedal Runners.Journal of Experimental Biology,1991,158:369-390
[18] Full R J,Yamauchia D L,Jindrich D L.Maximum Single Leg Force Production:Cockroaches Righting on Photoelastic Gelatin.Journal of Experimental Biology,1995,198:2441–2452
[19] Bartsch M S,Federleb W,Full R J,et al.Small Insect Measurements Using a Custom MEMS Force Sensor.The 12th International Conference on Solid Slate Sensors,Actuators and Microsystems,Boston,2003:1039-1042
[20] Bartsch M S.Micromachined Transducers for Insect Ground Reaction Force Measurement,[PhD.Dissertation].California:Stanford University,2003:179-216
[21] Irschick D J,Austin C C,Petren K,et al.A Comparative Analysis of Clinging Ability among Pad-bearing Lizards.Biological Journal of the Linnean Society,1996,59(l):21-35
[22] Yu Sun,Fry S N,Postasek D P,et al.Fruit Fly Flight Behavior Characterization Using MEMS Force Sensors.Journal of Microelectromechanical Systems,2005,14(1):4-11
[23] Gorb S N.Attachment of insects.The 4th Shanghai Roundtable,Nature as Engineer and Teacher:Learning for technology from biological systems,Oct. 8~11,2003
[24] Goldman D I,Chen T S, Dudek D M.Dynamics of rapid vertical climbing in cockroaches reveals a template.Journal of Experimental Biology,2006,209:2990-3000
[25]中国野生动物保护协会.中国爬行动物图鉴.郑州:河南科学技术出版社,2002
[26]杜世章,陈立侨,刘定震.中国壁虎属Gekko动物系统学研究进展.四川动物,2002,21(3):200-204
[27]张正杰.壁虎脚掌3维接触力测试系统研制[硕士学位论文].南京:南京航空航天大学,2006
[28]孙希任,许第昌,李增瑜.计算器在压力传感器性能指标计算中的应用.北京:航空工业部第三零一研究所,1987,7-10
[29]肖世旭.大壁虎的三维步态实验及分析[硕士学位论文].南京:南京航空航天大学,2006
[30] Kuwana Y , Shimoyama I . Steering Control of a Mobile Robot Using Insect Antennae.Proceedings of the IEEE IROS’95 conference in Pittsburgh,1995
[31]丁光,陈振昆.大壁虎(Gekko Gecko)附肢肌的解剖.云南农业大学学报,1995,10(1):12-17
[32]蔡雷,崔希云,艾洪宾.中华大蟾蜍脊髓灰质神经元构筑和脊神经的研究.山东师范大学学报(自然科学版),2007,22(3):104-106
[33]刘晓燕,戴振东,曾小龙,等.大壁虎附肢肌的定量研究.解剖学研究.2005,27(4):292-301
[34] Tian Y,Pesika N,Zeng H,et al.Adhesion and friction in gecko toe attachment and detachment.PNAS,2006,103:19320-19325
[35] Zhendong Dai,Jirong Sun,David Yue ,et al.Mrophology and contact mechanics influence adhesive characteristics at Dung Beetle’s setae.Progress in natural science,2007,17:1074-1081
[36] K Autnmn,M.Sitti,Yiching A,et al.Evidence for van der waals adhesion in gecko setae.PNAS,2002,99:12252-12256
[37] Maderson , P.F.A.Keratinized epidermal derivatives as an aid to climbing in gekkonid lizards.Nature,1963,780-781
[38] Russell A P.A contribution to the functional morphology of the foot of the tokay,Gecko gecko(Reptilia,Gekkonidae).Journal of Zoology,1975,176,437-476
[39] Huber G,Mantz H.,Spolenak H,et al.Evidence for capillarity contributions to gecko adhesion from single spatula nanomechanics measurements.PNAS,2005,102(45):16293-16296
[40] Qu L T,Dai L M,Stone M,et al.Carbon nanotube arrays with strong shear bingding-on and easy normal Lifting-off .Science,2008,322:238-242
[41] Ge L H.,Sethi S, Ci L J,et al. Carbon nanotube-based synthetic gecko tapes.PNAS,2007,104(26):10792-5