Bionic Study On The Adhesion Contact Area And External Right Angle Transition Behavior Of Gecko

At present,the bionic dry adhesion robot has realized the stable adhesion movement in the narrow space under the microgravity environment,but it has not solved the problem of the transition crawling between the surface of the box in the spacecraft cabin.However,the gecko can move freely on all kinds of surface with the special adhesion ability.Aiming at the motion limitation of the existing robot,this paper develops a dry adhesion gecko robot prototype based on the biological law which can realize the external right angle transition in microgravity environment.Firstly,the adhesion movement behavior of gecko is observed on different inclined surfaces and external right angle surface.By using image processing method,the change law of gecko's toe adhesion area when moving on different inclined surfaces is obtained,which provides theoretical support for the design of the robot feet;the mathematical model of the gecko external right angle transition is established based on biological data,and the three-dimensional rotation angle of the lumbar joint is calculated.The necessity of pitching joint and yaw joint in mechanical structure design is demonstrated.Then a bionic four-legged robot with 14 active degrees of freedom is designed,and the transition motion of the robot is planned according to the gecko's foot trajectory and crawling gait.Finally,the robot physical prototype realizes the stable transition motion on the external right angle surface under the microgravity environment built by the suspension method.The development of bionic dry adhesion gecko robot prototype has established a foundation for the design and development of space robot under microgravity environment.In the future,it will play a positive role in reducing the working intensity of astronauts,improving working efficiency and safety,and improving the working ability of the orbiting space station.