Design of a Biomimetic Skin for an Octopus-Inspired Robot - Part Ⅱ： Development of the Skin Artefact

作     者：Jinping Hou Richard H. C. Bonser George Jeronimidis 

作者机构：Centre for Biomimetics School of Construction Management and Engineering UniversiO~ of Reading Reading RG6 6A Y UK 

出 版 物：《Journal of Bionic Engineering》 (仿生工程学报（英文版）)

年 卷 期：2011年第8卷第3期

页      面：297-304页

核心收录：

学科分类：0821[工学-纺织科学与工程] 080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 082101[工学-纺织工程] 

基　　金：Seventh Framework Programme, FP7, (231608) European Commission, EC, (FP7 231608) 

主　　题：octopus skin static tensile test toughness skin artefact nylon/silicone composite 

摘      要：In order to develop skin artefact for an octopus-inspired robot arm, which is designed to be able to elongate 60% of its original length, silicone nlbber and knitted nylon sheet were selected to manufacture an artificial skin, due to their higher elastic strain and high flexibility. Tensile and scissors cutting tests were conducted to characterise the matrix and reinforcing materials and the skin artefact. Material properties of the individual and the composite materials were compared with the measured properties of real octopus skin presented ill Part I. The Young＇s modulus of the skin should be below 20 MPa and the elastic strain range should be over 60%. The fracture toughness should be at least 0.9 kJ.m 2. Tubes made of the skin artefact filled with liquid were tested to study volume change under deformation. Finite element analysis model was developed to simulate the material and arm structure under tensile loading. Results show that the skin artefact developed has similar mechanical properties as the real octopus skin and satisfies all the design specifications of the OCTOPUS robot.