A Mechanical Model for the Adhesion of Spiders to Nominally Flat Surfaces

In dry attachment systems of spiders and geckos, van der Waals forces mediate attraction between substrate and animaltarsus. In particular, the scopula of Evarcha arcuata spiders allows for reversible attachment and easy detachment to a broadrange of surfaces. Hence, reproducing the scopula’s roughness compatibility while maintaining anti-bunching features and dirtparticle repellence behavior is a central task for a biomimetic transfer to an engineered model. In the present work we model thescopula of E. arcuata from a mechano-elastic point of view analyzing the influence of its hierarchical structure on the attachmentbehavior. By considering biological data of the gecko and spider, and the simulation results, the adhesive capabilities of thetwo animals are compared and important confirmations and new directives in order to reproduce the overall structure are found.Moreover, a possible suggestion of how the spider detaches in an easy and fast manner is proposed and supported by the results.

Vibration suppression of speed-controlled robots with nonlinear control

在这份报纸，为追踪的同时的位置和机器人抑制的颤动的简单非线性的控制策略被介绍。控制为控制速度的伺服运动激活的设备被开发。为靠近环的系统的 asymptotic 稳定性的条件被保证它的被动导出。完成改进轨道追踪和颤动抑制的能力通过在一个三轴的笛卡儿的机器人上进行的试验性的测试被显示出。控制被瞄准与作为唯一的测量信号给联合位置的实现，减少的计算要求，和使用的简洁的很工业的应用程序兼容。