The Adhesion Structure Of Sinogastromyzon And Its High-Performance Adhesion Mechanism

With the development of science and technology,the requirements for the degree of automation of mechanical operations have also increased.In addition to the need for intelligent technology to improve the degree of automation,the working ability of the mechanical part is also very important.The efficient and stable robotic arm is an important part of automated machinery.The grasping ability of the robotic hand is of great significance to the automated operation of the robotic arm.Vacuum suckers are widely used as manipulators at the end of robotic arms because of their wide application range,no damage to the cargo in the transportation process,and no specific restrictions on the transportation materials.The surface of the existing suckers is mostly a smooth structure.Although this structure is easy to process,it has a weak adhesion capacity for goods with irregular surfaces.In order to adapt to the living environment,many creatures have evolved suckers that use vacuum suction.Some of the biological suckers still have high-performance adhesion for rough surfaces that traditional suckers can't adhere.The study and analysis of the adhesion mechanism of these organisms has important guiding significance for improving the adhesion performance of the suckersThe Sinogastromyzon lives in mountain stream rapids.To resist the rapid current,it often adhere on the rough cobblestone surface.Through evolution,the abdomen of the Sinogastromyzon forms a sucker that can adhere stably on the rough rock surface.In this study,we will observe and analyze the structure and adhesion mechanism of its suckers.Scanning electron microscope and stereomicroscope were used to observe the surface structure of biological suction cup,and it was observed that the surface structure of Sinogastromyzon is multi-level hairy structure and groove structure.Using the tensile tester to test the adhesion capacity of Sinogastromyzon on smooth and rough surfaces,Sinogastromyzon still has good adhesion performance on rough surfaces.The surface roughness power spectrum is used as a mathematical tool toquantify the sealing mechanism of multi-level hairy structure on rough surface.The calculation results show that the setae in the multi-level structure need to fill the pits with a depth of 9.7 ?m and a length less than 50 ?m,so the multi-level setaestructure has a good sealing effect on rough surfaces.By analyzing the influence of the groove structure on the mechanical characteristics of the suction cup,the effect of the groove structure on the suction performance of the suction cup is discussed.Since the multi-level structure of the Sinogastromyzon is a flexible and multi-level microstructure,it is difficult to imitate.In this experiment,the groove structure of the Sinogastromyzon is used as a bionic element for extraction and bionic design.Use the 25 mm diameter PVC material suction cup commonly used in life as the reference suction cup to design the basic size of the suction cup,design and process a uniformly distributed rectangular groove on the inner wall of the suction cup to make the bionic suction cup.Comparing the suction force of bionic and standard form suction cups,the suction force of bionic suction cups can be increased by about 10% compared with standard form suction cups.