动物运动接触反力测试系统、实验与分析
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摘要
运动是动物捕食、逃逸、生殖、繁衍等行为的基础。壁虎、蜘蛛、昆虫等快的运动速度、强的负载能力、高度的灵敏性,使它们成为运动学研究的理想模型。生物学家们从比较生物学的角度深入研究壁虎、蜘蛛、昆虫等动物的爬行基本规律,工程师们则从动物运动中获得设计灵感,进一步提高特种仿生机器人(特别是爬壁机器人)和其他复杂系统的性能。研究壁虎、蜘蛛、昆虫等动物在各种表面(地面、壁面、天花板)上运动时脚掌与接触表面的作用力,可以为生物学家和工程师们研究动物时的粘附机制提供有价值的线索。本文主要研究内容如下:
1.研制了两种量程的3维力传感器用于测量壁虎、蜘蛛、昆虫等动物运动时脚掌与接触表面作用力。对传感器弹性体进行优化设计,按照设计要求对传感器弹性体加工贴应变片。研制了传感器的信号调理和放大电路,编制信号采集与数据处理程序。对两种量程的力传感器进行标定。
2.研制了昆虫运动力学测试系统。由16个用于测量昆虫脚掌接触力的传感器组成的4×4传感器阵列,通过限位保护装置防止传感器在安装和实验过程中的过载失效。采用NI公司的SCXI应变调理模块和相应的采集模块组成48通道的信号放大与数据调理电路。编制了基于LabVIEW环境的数据采集与分析软件。配合动态图像的同步采集,运动力学测试系统可以测量分析动物运动过程中各个脚掌之间的力学协调规律。设计了由多个用于壁虎脚掌接触力测试的3维力传感器组成的测力阵列。
3.测定了壁虎在水平地面和垂直壁面爬行过程中脚掌与表面的接触力,观察了壁虎的形态特征与运动行为,结果表明壁虎在垂直壁面爬行过程中的切向力是法向力的2倍以上,为类壁虎机器人脚掌力反馈的设计提供理论依据。
4.分析了黄斑蝽的腿部运动。测定了黄斑蝽在地面和垂直壁面两种状态下的爬行时的接触力,分析了力的产生机理。在垂直壁面状态下,昆虫向上爬行时将身体向上推进的同时,会产生防止身体倾覆的吸附力。
5.对斑衣蜡蝉的生物学形态进行了观察研究。发现斑衣蜡蝉通过中垫实现在光滑壁面上的附着。测量了斑衣蜡蝉在切向和法向两种状态下的抓附力以及在切向和法向两种状态下抓附时中垫与接触面的接触面积,分析了接触面积和力的关系。提出了斑衣蜡蝉运动时的粘附-脱附模型。
6.测定了水黾在自由运动状态下向前的滑行力(0.3 - 0.4 mN/cm)。比较了实际测量值和几何计算值之间的误差,分析了误差产生的原因。比较了同种的雄性和雌性的水黾以及不同种的水黾的滑行力的大小。
Locomotion is the basis of predation, escape, reproduction for animals. Geckos, spiders and insects run and climb with exceptional speed, strength and agility for their size, representing in many respects an ideal model system for the study of terrestrial locomotion. Biologists make comparative biology study with animals to develop a deeper understanding of the foundmental biomechanical design rules common to all legged organisms. Engineers look to animals’locomotion for design principles to improve the performance of legged robots including wall-climbing robots and other complex systems. By measuring the ground reaction forces generated by animals when walking upright, climbing vertically or walking on an inverted surface, we can understand adhesion mechanism and locomotion dynamics. Two kinds of 3 dimensional force sensors in different range were made to measure the ground reaction forces generated by animals such as geckos, spiders, insects etc. first, the elastic elements of sensors were designed optimally and strain gages were glued to elastic elements in right position. Secondly, the circuits of signal amplification and condition were also made to acquire the data. Then the software of data acquisition and analysis was compiled. These two kinds of 3 dimensional force sensors were made calibration before used to measure the ground reaction forces.
An insects’s kinematic mechanics measurement system was created to measure the ground reaction forces produced by animals in different legs at the same time. With this system and the high speed camera , the cooperative adhesive mechanics among all legs of insects when locomotion can be acquired. The sensor array of the system were composed of 16 3-dimensional sensors in smaller range on 4×4 pattern. A mechanical device was installed in sensor array to achieve over-load protection. National Instruments Company’s SCXI signal conditioning modules were used in this system to compose 48 channels signal amplification, data acquisition and processing device. The software of data acquisition and analysis was compiled in LabVIEW environment. Another sensor array which will be use to measure the gecko’s cooperative adhesive forces was designed also with several sensors in bigger range A 3 dimensional force sensor in bigger range was use to measure the ground reaction forces generated by geckos when walking upright and climbing vertically. By measuring the different target surface reaction force,we can understand gecko’s adhesion mechanism and locomotion. The study sheds light on the study of animal’s locomotion and the design of bio-inspired robot.
Legs of stinkbug Erthesina fullo performance during walking was examined with a model. A 3 dimensional force sensor in smaller range was used to measure the ground reaction forces created by individual legs of the stinkbug when moving on the level and vertical surfaces. The legs of insect generate adhesive forces to avoid overturning when climbing vertically.
Morphology of Lycorma delicatula was studied with microscope. The insect possesses arolium between claws to adhesive on smooth surface when walking. Adhesive forces and contact area between arolium and the target surface were measured when Lycorma delicatula walked on the level and slided on the vertical surface. A model of peeling theory was put forward to give relationship between contact area and adhesive forces.
The force of free swimming water striders was measured about 0.3 - 0.4 mN/cm. The error calculated by comparing force and geometrical derived data, was estimated as 13%. Females in average were stronger than males, however the ratio force / weight was not significantly different. Compared to other lighter species' data available in literature, water strider A. paludum seems to be stronger, but the ratio force / weight is actually lower.
1.研制了两种量程的3维力传感器用于测量壁虎、蜘蛛、昆虫等动物运动时脚掌与接触表面作用力。对传感器弹性体进行优化设计,按照设计要求对传感器弹性体加工贴应变片。研制了传感器的信号调理和放大电路,编制信号采集与数据处理程序。对两种量程的力传感器进行标定。
2.研制了昆虫运动力学测试系统。由16个用于测量昆虫脚掌接触力的传感器组成的4×4传感器阵列,通过限位保护装置防止传感器在安装和实验过程中的过载失效。采用NI公司的SCXI应变调理模块和相应的采集模块组成48通道的信号放大与数据调理电路。编制了基于LabVIEW环境的数据采集与分析软件。配合动态图像的同步采集,运动力学测试系统可以测量分析动物运动过程中各个脚掌之间的力学协调规律。设计了由多个用于壁虎脚掌接触力测试的3维力传感器组成的测力阵列。
3.测定了壁虎在水平地面和垂直壁面爬行过程中脚掌与表面的接触力,观察了壁虎的形态特征与运动行为,结果表明壁虎在垂直壁面爬行过程中的切向力是法向力的2倍以上,为类壁虎机器人脚掌力反馈的设计提供理论依据。
4.分析了黄斑蝽的腿部运动。测定了黄斑蝽在地面和垂直壁面两种状态下的爬行时的接触力,分析了力的产生机理。在垂直壁面状态下,昆虫向上爬行时将身体向上推进的同时,会产生防止身体倾覆的吸附力。
5.对斑衣蜡蝉的生物学形态进行了观察研究。发现斑衣蜡蝉通过中垫实现在光滑壁面上的附着。测量了斑衣蜡蝉在切向和法向两种状态下的抓附力以及在切向和法向两种状态下抓附时中垫与接触面的接触面积,分析了接触面积和力的关系。提出了斑衣蜡蝉运动时的粘附-脱附模型。
6.测定了水黾在自由运动状态下向前的滑行力(0.3 - 0.4 mN/cm)。比较了实际测量值和几何计算值之间的误差,分析了误差产生的原因。比较了同种的雄性和雌性的水黾以及不同种的水黾的滑行力的大小。
Locomotion is the basis of predation, escape, reproduction for animals. Geckos, spiders and insects run and climb with exceptional speed, strength and agility for their size, representing in many respects an ideal model system for the study of terrestrial locomotion. Biologists make comparative biology study with animals to develop a deeper understanding of the foundmental biomechanical design rules common to all legged organisms. Engineers look to animals’locomotion for design principles to improve the performance of legged robots including wall-climbing robots and other complex systems. By measuring the ground reaction forces generated by animals when walking upright, climbing vertically or walking on an inverted surface, we can understand adhesion mechanism and locomotion dynamics. Two kinds of 3 dimensional force sensors in different range were made to measure the ground reaction forces generated by animals such as geckos, spiders, insects etc. first, the elastic elements of sensors were designed optimally and strain gages were glued to elastic elements in right position. Secondly, the circuits of signal amplification and condition were also made to acquire the data. Then the software of data acquisition and analysis was compiled. These two kinds of 3 dimensional force sensors were made calibration before used to measure the ground reaction forces.
An insects’s kinematic mechanics measurement system was created to measure the ground reaction forces produced by animals in different legs at the same time. With this system and the high speed camera , the cooperative adhesive mechanics among all legs of insects when locomotion can be acquired. The sensor array of the system were composed of 16 3-dimensional sensors in smaller range on 4×4 pattern. A mechanical device was installed in sensor array to achieve over-load protection. National Instruments Company’s SCXI signal conditioning modules were used in this system to compose 48 channels signal amplification, data acquisition and processing device. The software of data acquisition and analysis was compiled in LabVIEW environment. Another sensor array which will be use to measure the gecko’s cooperative adhesive forces was designed also with several sensors in bigger range A 3 dimensional force sensor in bigger range was use to measure the ground reaction forces generated by geckos when walking upright and climbing vertically. By measuring the different target surface reaction force,we can understand gecko’s adhesion mechanism and locomotion. The study sheds light on the study of animal’s locomotion and the design of bio-inspired robot.
Legs of stinkbug Erthesina fullo performance during walking was examined with a model. A 3 dimensional force sensor in smaller range was used to measure the ground reaction forces created by individual legs of the stinkbug when moving on the level and vertical surfaces. The legs of insect generate adhesive forces to avoid overturning when climbing vertically.
Morphology of Lycorma delicatula was studied with microscope. The insect possesses arolium between claws to adhesive on smooth surface when walking. Adhesive forces and contact area between arolium and the target surface were measured when Lycorma delicatula walked on the level and slided on the vertical surface. A model of peeling theory was put forward to give relationship between contact area and adhesive forces.
The force of free swimming water striders was measured about 0.3 - 0.4 mN/cm. The error calculated by comparing force and geometrical derived data, was estimated as 13%. Females in average were stronger than males, however the ratio force / weight was not significantly different. Compared to other lighter species' data available in literature, water strider A. paludum seems to be stronger, but the ratio force / weight is actually lower.
引文
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