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Synergy Between Soft Feet and an Active Tail to Enhance the Climbing Ability of a Bio-inspired Climbing Robot

Journal of Bionic Engineering 2024年第2期21卷 729-739页

作者： Pongsiri Borijindakul Tachadol Suthisomboon Alihong Ji zhendong dai Poramate Manoonpong Institute of Bio-inspired Structure and Surface Engineering College of Mechanical and Electrical EngineeringNanjing University of Aeronautics and AstronauticsNanjing210016China Bio-inspired Robotics and Neural Engineering Laboratory School of Information Science and TechnologyVidyasirimedhi Institute of Science and TechnologyRayong21210Thailand

Lizards use the synergy between their feet and tail to climb on slopes and vertical *** use their soft adhesive feet with millions of small hairs to increase their contact area with the terrain surface and press their tails against the terrain to actively maintain stability during *** by this,we propose a bio-inspired climbing robot based on a new approach wherein the synergy between soft feet and an active tail with a soft adhesive tip allows the robot to climb stably on even and uneven terrains at different slope *** evaluate and compare the climbing performance of the robot on three different terrains(hard,soft,and fluffy)at different slope *** robot configurations are employed,including those with standard hard feet and soft feet in combination with an active tail-with and without a soft *** experimental results show that the robot having soft feet and a tail with the soft tip achieves the best climbing performance on all terrains,with maximum climbing slopes of 40°,45°,and 50°on fluffy,soft,and hard terrains,*** payload capacity depends on the type of terrain and the inclination ***,our robot performs multi-terrain transitions(climbing from horizontal to sloped terrains)on three different terrains of a *** approach can allow a climbing robot to walk and climb on different terrains,extending the operational range of the robot to areas with complex terrains and slopes,e.g.,in inspection,exploration,and construction.

关键词： Bio-inspired climbing robots Climbing robots Soft foot Active tail Soft terrain Terrain transitions

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Self-Preloading Flexible Attachment Actuator with Multi-Mechanism Hierarchical Structure

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Journal of Bionic Engineering 2024年第4期21卷 1830-1846页

作者： Zhouyi Wang Qingsong Yuan Zhiyuan Weng Junsheng Yao Xuan Wu Lei Li Weipeng Li Yiping Feng zhendong dai College of Mechanical and Electrical Engineering Nanjing University of Aeronautics and Astronautics210016NanjingChina State Key Laboratory of Mechanics and Control for Aerospace Structures Nanjing University of Aeronautics and Astronautics210016NanjingChina Robotics Laboratory China Nanhu Academy of Electronics and Information Technology314000JiaxingZhejiangChina

Flexible attachment actuators are popular in a wide range of applications,owing to their flexibility and highly reliable ***,their reversible adhesion performance depends on the actual effective contact area and peel angle during ***,a good actuator must ensure a uniform and reliable pre-pressure load on an adhesive surface,to increase the effective contact area of the attached surface,thereby maximizing *** study was inspired by fusion bionics for designing a hierarchical attachment structure with vacuum-adsorption and dry-adhesion *** designed structure used the normal force under the negative pressure of a suction cup as a stable source of a pre-pressure *** optimizing the rigid and flexible structural layers of the attachment structure,a load was applied uniformly to the adhesion area;thus,reliable attachment was achieved by *** structure achieved detachment by exploiting the large deformation of a pneumatic structure under a positive *** hierarchical attachment structure achieved up to 85%of the optimal performance of the adhesive *** to its self-preloading and reliable attachment characteristics,the designed structure can be used as an attachment unit in various complex scenarios,such as small,lightweight climbing platforms and the transport of objects in long,narrow pipelines.

关键词： Multi-mechanism attachment Self-preloading Hierarchical structure Adhesion Vacuum adsorption

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仿生爬壁机器人:研究基础、关键技术及发展预测

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科学通报 2024年第17期69卷 2380-2400页

作者：裴香丽刘书豪师瑞卓魏安民吴志伟戴振东南京航空航天大学机电学院仿生结构与材料防护研究所南京210016

爬壁机器人是移动机器人的重要分支,能代替人工在高危、狭小、恶劣等环境工作.研制仿生爬壁机器人从筛选具有优异攀爬能力的动物,研究其运动行为、机体结构、附着能力、感知控制的规律入手,凝练爬壁机器人设计准则,发展灵活、轻质、微... 详细信息

爬壁机器人是移动机器人的重要分支,能代替人工在高危、狭小、恶劣等环境工作.研制仿生爬壁机器人从筛选具有优异攀爬能力的动物,研究其运动行为、机体结构、附着能力、感知控制的规律入手,凝练爬壁机器人设计准则,发展灵活、轻质、微型、适应性广的移动机器人,为航空、航天、救援等提供必要的装备.这类研究受到基础科学、工程技术和产业应用等领域专家的广泛关注.本文梳理仿生爬壁机器人研究的现状,总结典型攀爬动物的运动行为、附着机制,归纳爬壁机器人的附着方式、移动机构和运动控制等方面的关键技术,分析仿生爬壁机器人附着和移动方式的特点,给出已有爬壁机器人的仿生度,并展望仿生爬壁机器人的核心问题和发展趋势,为未来仿生爬壁机器人的发展提供参考意见.

关键词：仿生爬壁机器人仿生附着机理移动方式控制方法

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Adhesive Contact in Animal： Morphology, Mechanism and Bio-Inspired Application

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Journal of Bionic Engineering 2011年第4期8卷 345-356页

作者： Aihong Ji Longbao Han zhendong dai Institute of Bio-Inspired Structure and Surface Engineering Nanjing University of Aeronautics and Astronautics Nanjing 210016 P. R. China College of Aerospace Engineering Nanjing University of Aeronautics and Astronautics Nanjing 210016 P. R. China

Many animals possess adhesive pads on their feet, which are able tO attach to various substrates while controlling adhesive forces during locomotion. This review article studies the morphology of adhesive devices in animals, and the physical mechanisms of wet adhesion and dry adhesion. The adhesive pads are either ＇smooth＇ or densely covered with special adhesive setae. Smooth pads adhere by wet adhesion, which is facilitated by fluid secreted from the pads, whereas hairy pads can adhere by dry adhesion or wet adhesion. Contact area, distance between pad and substrate, viscosity and surface tension of the liquid filling the gap between pad and substrate are the most important factors which determine the wet adhesion. Dry adhesion was found only in hairy pads, which occurs in geckos and spiders. It was demonstrated that van der Waals interaction is the dominant adhesive force in geckos＇ adhesion. The bio-inspired applications derived from adhesive pads are also reviewed.

关键词： biomimetics adhesion animal morphology mechanism

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Buckling analysis of functionally graded nanobeams under non-uniform temperature using stress-driven nonlocal elasticity

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Applied Mathematics and Mechanics(English Edition) 2022年第3期43卷 355-370页

作者： Chi XU Yang LI Mingyue LU zhendong dai College of Mechanical and Electrical Engineering Nanjing University of Aeronautics and AstronauticsNanjing 210016China Jiangsu Provincial Key Laboratory of Bionic Functional Materials Nanjing University of Aeronautics and AstronauticsNanjing 210016China

In this work,the size-dependent buckling of functionally graded(FG)Bernoulli-Euler beams under non-uniform temperature is analyzed based on the stressdriven nonlocal elasticity and nonlocal heat *** utilizing the variational principle of virtual work,the governing equations and the associated standard boundary conditions are systematically extracted,and the thermal effect,equivalent to the induced thermal load,is explicitly assessed by using the nonlocal heat conduction *** stressdriven constitutive integral equation is equivalently transformed into a differential form with two non-standard constitutive boundary *** employing the eigenvalue method,the critical buckling loads of the beams with different boundary conditions are *** numerically predicted results reveal that the growth of the nonlocal parameter leads to a consistently strengthening effect on the dimensionless critical buckling loads for all boundary ***,the effects of the influential factors pertinent to the nonlocal heat conduction on the buckling behavior are carefully examined.

关键词： size effect stress-driven nonlocal model constitutive boundary condition nonlocal heat conduction functionally graded(FG)beam buckling load

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Electrostatic attraction caused by triboelectrification in climbing geckos

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Friction 2022年第1期10卷 44-53页

作者： Yi SONG Zhouyi WANG Yang LI zhendong dai College of Mechanical and Electrical Engineering Nanjing University of Aeronautics and AstronauticsNanjing 210016China

Adhesion achieved through feet setae is fundamental for gecko agilely *** diverse hypotheses have been proposed,none of them thoroughly explains the setae function,implying a kind of hybrid-mechanism-based adhesion in *** addition to van der Waals interactions and capillary force,the electrostatic attraction that emerges from triboelectrification was suggested as a component of setae ***,the contribution by electrostatic attraction to the total setae attachment is still *** this study,we analyzed the occurrence of electrostatic attraction at gecko setae through experiments and model *** touching the substrates with only~1/70th of the foot area,freely wall-climbing geckos developed tribocharge at their feet setae with a density of~277 pC/mm^(2),generating electrostatic attractions with a strength of~4.4 mN/mm^(2).From this perspective,the adhesion driven by triboelectrification could account for about 1%of total *** analyses at spatula level indicated a similar result showing that the electrostatic force might account for~3%of the adhesion that facilitates wall-climbing in *** low contribution of the electrostatic force partly explains why geckos always face difficulty in maneuvering onto those substrates(e.g.,teflon)where they could easily develop tribocharge but difficultly generate van der Waals ***,long-range electrostatic forces may play other roles in a distance range where the van der Waals interaction cannot *** findings not only add to our understanding of the mechanism of gecko adhesion,but also will help us advance gecko-inspired fibular adhesives.

关键词： gecko attraction electrostatic

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Contact mechanics of pad of grasshopper (Insecta:ORTHOPTERA) by finite element methods

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Chinese Science Bulletin 2009年第4期54卷 549-555页

作者： dai zhendong GORB Stanislav Institute of Bio-inspired Structure and Surface Engineering Nanjing University of Aeronautics and Astronautics Nanjing Jiangsu China 210016 Evolutionary Biomaterials Group Max-Planck-lnstitute for Metals Research Germany 70569

During locomotion, insect feet endure dramatic impact force and generate adhesive force which is controlled by the architecture of the foot. The patterns of smooth attachment pads in insect feet vary widely among insect orders and families. The functional significance of the micro-structure and geometric design of insect feet remains largely unknown. In this study, we developed a two-dimensional finite element model of a grasshopper's attachment pad. Realistic geometric microstructure and material properties are applied in the biomechanical analysis of the structural behavior during contact. Here we use scanning electronic microscopy to study the microstructure of the grasshopper's pad, and then use the finite element method to calculate the deformation vector fields, contact stiffness, contact area, function of the airbag and strain fields during the contact process. The results reveal that the geometric design and material topology of a grasshopper's pads are very effective in reducing contact stiffness, increasing contact area and generating high friction force during the contact procedure. The rod-containing structure supporting the soft exocuticle makes the pads highly adaptive to various surfaces and decreases the stress inside the pads.

关键词：蚱蜢接触机理昆虫脚接触表面生物模拟有限元分析

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Contact Electrification and Adhesion Between Carbon Nanotube and Graphene on Metal Surfaces: Insights from First-principles Study

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Journal of Bionic Engineering 2022年第1期19卷 103-112页

作者： Jing Tao Linfeng Wang Jin Li zhendong dai Jiangsu Provincial Key Laboratory of Bionic Functional Materials College of Mechanical and Electrical EngineeringNanjing University of Aeronautics and AstronauticsNanjing210016China College of Aerospace Engineering Nanjing University of Aeronautics and AstronauticsNanjing210016China

The effect of contact electrification on adhesion has been debated in recent years for gecko and bio-inspired dry adhesion *** understand the fundamentals of this issue for Carbon Nanotube(CNT)dry adhesives,contact electrification and its relationship with adhesion are systematically studied using the first-principles *** transfers from CNT or its special form,graphene,to the metal surface during the contact,and the transferred charge linearly correlates with the work function ***,the adhesion energy is linearly related to the transferred charge for both CNT and *** charge transfers from the flat graphene to metal surfaces than the curved CNT,leading to higher adhesion between graphene and metal *** curved structure of the CNT causes an irregular change of charge at the interface and hinders the charge ***,the curved structure induces electronic localization,which also decreases the interfacial charge *** structure affects contact electrification,and hence adhesion is further demonstrated by the CNT with different deformation when contacting different *** study advances our understanding of contact electrification and its relationship with adhesion at the interface for bio-inspired carbon adhesive materials and sheds light on the control of them for engineering applications.

关键词： Contact electrification Adhesion Bio-inspired adhesive CNT First-principles calculation Interfacial interaction

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Use of opposite frictional forces by animals to increase their attachment reliability during movement

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Friction 2013年第2期1卷 143-149页

作者： Zhouyi WANG Yi SONG zhendong dai Institute of Bio-inspired Structure and Surface Engineering Nanjing University of Aeronautics and AstronauticsNanjing210016China College of Mechanical and Electrical Engineering Nanjing University of Aeronautics and AstronauticsNanjingNanjing210016China College of Aerospace Engineering Nanjing University of Aeronautics and AstronauticsNanjingNanjing210016China

Many animals have the natural ability to move on various surfaces,such as those having different roughness and slope substrates,or even vertical walls and *** animals primarily attach to surfaces using claws,soft and hairy pads,or combinations of *** studies have indicated that the frictional forces generated by these structures not only control the movement of animals but also significantly increase the reliability of their ***,the frictional forces of various animals have opposite characteristics and hierarchical properties from toe-to-toe and *** opposite frictional forces allow animals to attach securely and stably during *** coordination of several attachment(adhesion)modes not only helps animals adhere,which would be impossible in single mode,but also increases the overall stability of the attachment(adhesion)*** findings can help the design of highly adaptable feet for bionic robots in the near future.

关键词： opposite frictional forces claw interlocks soft pad adhesion hairy pad adhesion attachment reliability

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Mechanical and Frictional Properties of the Elytra of Five Species of Beetles

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Journal of Bionic Engineering 2013年第1期10卷 77-83页

作者： Min Yu Ilja Hermann zhendong dai Norm Gitis Institute of Bio-inspired Structure and Surface Engineering Nanjing University of Aeronauties and Astronautics Nanjing 210016 P. R. China Bruker Nano Inc. 1717 Dell Ave. Campbell CA 95008 USA

The mechanical and frictional properties of different parts of the elytra of five species of beetle were measured using a nano-indenter and a micro-tribometer. The surface microstructures of the elytra were observed by optical microscopy and scanning white light interferometry. The surface microstructures of the elytra of all five species are characterized as non-smooth concavo-convex although specific morphological differences demonstrate the diversity of beetle elytra. Young＇s modulus and the hardness of the elytral materials vary with the species of beetle and the sampling locations, ranging from 1.80 GPa to 12.44 GPa, and from 0.24 GPa to 0.75 GPa, respectively. In general, both the Young＇s modulus and the hardness are lower in samples taken from the center of the elytra than those taken from other regions, which reflects the functional heterogeneity of biological material in the process of biological evolution. The elytra have very low friction coefficient, ranging from 0.037 to 0.079, which is related to their composition and morphology. Our measurements indicate that the surface texture and its mi- crostructural size of beetle elytra contribute to anti-friction effects.

关键词： beetle elytra bio-tribology surface morphology mechanical properties

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