Study On Biological Characteristics Of Scutiger And Bionic Design Of Grab Hand

In the grasping mechanism or system,after a series of analysis including identification,detection and calculation,the grasping hand as the last part is the main executing mechanism of the whole closed loop system.The demand of grab hand in agricultural production,industrial manufacturing,military rescue,lifting,medical services and other fields is not all the same.but there are some commonalities:reliability and efficiency are two important performance indicators.How to make the manipulator can effectively improve these two indicators has been a research hotspot.Bionics is a new interdisciplinary subject,which aims to imitate the morphology,structure and functional characteristics of plants and animals in nature.and to optimize and innovate the current mechanism.By biomimetic methods,this paper studies the biological characteristics of the scutigeromorpha which has strong climbing ability.The biological parameters were measured and recorded by electronic scales,ranging software and other tools.The statistics experiment verified the wettability of scutigergeres and then measured the contact angles of different body surfaces to analyze the hydrophobicity of different parts.The scanning electron microscope,stereomicroscope and tissue slice were used to observe microstructure and inside structure of scutigeromorpha.It is found that there are bristle structures on the body surface of scutigergeres.By combining the results of microscopic observation and tissue section test,it is inferred that the bristles of scutigeres mainly play the roles of mechanical perception,chemical perception and temperature and humidity perceptionThe fore-tarsus of the foot is selected as the bionic prototype.It is found that the fore-tarsus of scutiger is a multi-segment flexible structure.Its surface is covered with a layer of neat and dense bristles;There is only one muscle through the whole tarsus Scutigeromorpha controls fore-tarsus with the single muscle to hold or release.Based on the biological characteristics of the fore-tarsus segment of the scutigeromorpha,a six-base segment bionic grasping hand structure model and a bionic non-smooth surface model of the grasping hand are designed respectively.The ADAMS software is used to simulate the bionic grasping hand model,this is able to verify that the designed bionic grasping hand can achieve the desired grasping action,and analyzes the displacement,velocity,acceleration,force,torque and other parameter curves of multiple parts in the grasping process.The finite element analysis of the bionic non-smooth surface model of the grasping hand was carried out by using ABAQUS software,and the comparison between the bionic non-smooth surface model and the smooth control model showed that the bionic non-smooth surface could effectively improve the grasping efficiency of the grasping hand.The effects of parameters on grasping efficiency were analyzed by taking the parameters of non-smooth surface.bristle diameter d and bristle clearance 1,and the parameters were optimized.