The Measurement Of Gecko's Reaction Force In Loading And Optimization And Analysis Of 3D Sensors

It is well known that the Gekko Gecko has the remarkable ability of running in three-dimensional space with loads. There is no research on the gecko's loading. It was measured that the reaction force of feet when gecko carried loads, which inspires advanced design and control of gecko-like robot and reveals the effect of loading on locomotion.The influence loading mass, loading styles and different planes made on the reaction force were measured by force sensor array and the locomotion behavior analysis.It's the first time that the influence was studied in a locomotion behavior. On the level plane, the feet pulled pushed away from midline of body in lateral direction. The fore-feet had an obvious effect on loading compared with the hind feet. The change of fore-aft force direction resulted in fluctuation of velocity in order to maintain continuity of the movement. During this process the function of hind feet was to drive the body ahead while the function of fore-feet was opposite. By the increase of loading, the redundancy of normal force made less and less. On the wall, there was a small incipient contact time, the time duration from the gecko foot acting on substrate incipiently to the interaction transferring to adhension, and then the lateral force was deviation from the midline of body. The fore-aft force balanced gravitation and supports the gecko moving ahead. During ascent, the fore-feet pulled toward, while hind feet pushed away from wall, generating a net pitching moment toward the plane to counterbalance pitch-back away from the plane. Forces didn't increase linearly with loads on the level plane and wall. All shows that stability of gecko's movement depends on the coordination of all legs, rather than linear superposition of forces. Differential leg function appears essential for effective wall as well as level locomotion.In the second part, a 3-D sensor was optimized by ANSYS to increase its natural frequency. In addition, the relationship between force and strain of a new type of a 3-D sensor was calculated.