| Research results on locomotion kinematics and dynamics of gecko on surfaces with differentroughness can further perfect geckos’ adhesion mechanism, and can be applied in the engineeringfield of bionic climbing robots based on the dry adhesion mechanism. In current paper, geckos’3-dimensional ground reaction forces and locomotion behaviors were measured and recorded bylocomotion kinematicsn and force measurement system simultaneously. The system is consist of four3-dimensional force sensors, a high speed camera and data acquisition and signal conditioningmodules based on PXIe, which can synchronously collects force data and images. Polishing paperswere classified according to their microscopic sizes, after micro-measured by the laser microscopysystem VK-X200.Geckos were placed vertically on polishing papers with mesh number from220to7000to studytheir static adhesive abilities after being got rid of their claws. Experimental results show that: therewere differences in the slip velocities and adduction velocities of geckos among various polishingpapers. With the increase of the ratios between diameters and interial of particles on polishing papers,the slip velocities decrease. And the surface roughness is not the main influence factor on geckos’adhesion abilities. Through establishment of adhesion friction model, the friction force and adhesionof gecko setae spatula were calculated, and the experiental results were verified.Locomotion ability on the different rough surfaces of geckos which claws were cut out, wasstudied. Gecko mainly adopts diagonal gait when moving, and both feet adhesion factors and detachfactors have no significant relationships with velocities.With the increase of the ratios betweendiameters and interial of particles on polishing papers, geckos tend to increase frequency to improvespeed. The maximum force-aft force and the maximum of normal force increase gradually, while themaximum value of lateral force changes inconspicuously. |
PDF Full Text Request