不同电压幅度刺激下大壁虎脚趾黏附-脱附力测试

Attachment-Detachment Force Acting on the Toe of Gecko During Stimulation of Different Voltage

爬壁机器人在民用、军事、航天等领域具有重要的应用,基于范德华力的仿壁虎干黏附爬壁机器人有着多环境适应性的优势。壁虎脚趾不同内收与外翻幅度下黏-脱附力对于研制仿壁虎黏附爬壁机器人具有重要的指导意义。通过对肌肉电刺激,不同的电压幅度将产生不同的动作幅度,进而影响黏附-脱附力。为了更好了解大壁虎运动时后脚第三趾脚趾黏附-脱附力与肌电间的关系,将麻醉后的大壁虎左右后脚第三趾分别放置在电磁屏蔽箱内的三维力传感器上,通过电刺激观察壁虎脚趾趾关节肌的收缩舒张来观察其黏附-脱附状态,并采集相应力信号。实验结果表明,壁虎脚趾的脱附力随着刺激电压的增加出现先增加后减少的过程,而其黏附力则是逐渐增加直至趋于平稳,说明壁虎脚趾有一个高黏附-低脱附的区间,即黏附力最大而脱附力最小,为仿壁虎黏附爬壁机器人脚趾的研制和控制方案的设计提供了有效的参考依据。

The wall climbing robot has important applications in the fields of civil,military,aerospace and so on.The wall climbing robot which is based on the Van der Waals force has the advantage of environmental adaptability.The attachment-detachment force of gecko’s toe which caused by adduction and abduction has important guiding significance for the development of thewall climbing robot.Through the muscle stimulation,different voltage amplitude will produce different action amplitude,thus affecting the attachment-detachment force.In order to better understand the relationship between attachment-detachment force and the electromyography of the third toe,putting the third toe of the gecko which has been anesthetized on the three-dimensional force sensor in the electromagnetic shielding box.The attachment and detachment state of the gecko toe joint muscle can be observed by sending electrical stimulation,at the same time the force signal can be collected.The experimental results show that the detachment force of the gecko toe increases first and then decreases with the increase of the stimulus voltage,and its attachment force gradually increases until it tends to be stable,which indicates that the gecko has a high attachment-low detachment interval,that is,the attachment forceis the maximum and the detachment force is the minimum,which provides an effective reference for the design of the toe and control scheme of the wall climbing robot.