仿生凹坑型吸盘设计与试验

doi:10.13229/j.cnki.jdxbgxb.20220623

摘要/Abstract

摘要：

为了提高吸盘的吸附性能，基于水蛭吸盘表面存在的凹坑形态，运用仿生学原理，在常规吸盘表面设计凹坑形态，使吸盘工作表面存在多个小型吸盘，提高吸盘的吸附性能。运用部分正交多项式回归分析，探究凹坑形态的直径、单排凹坑数量及排间距对吸盘吸附力的影响。试验表明，不同凹坑的形态参数对吸盘吸附力具有不同的影响效果，当凹坑直径为1.5 mm、单排凹坑的数量为40个及排间距为4 mm时，仿生吸盘在基底表面的吸附力为49.54 N，相对于标准吸盘在基底表面的吸附力提高49.21%。建立设计因素与评价指标间的数学回归模型，确定对吸盘吸附力影响的显著性主次顺序为排间距、凹坑直径、单排凹坑数量。仿真分析表明，工作表面存在的凹坑形态改变了吸附时吸盘表面接触压力及摩擦应力的分布，并且仿生吸盘工作表面的摩擦应力和接触压力均大于标准吸盘，增大了仿生吸盘在基底表面的吸附力。

关键词: 仿生, 凹坑, 吸盘, 吸附力, 吸附机理, 试验设计

Abstract:

To improve the adsorption performance of the sucker， the study used bionics to design the pit structure on the surface of the normal sucker. So， there were multiple small suction cups on the working surface of the sucker during the adsorption process to improve the suction performance of the sucker. Partial orthogonal polynomial regression analysis was used to explore the influence of the diameter of the pit shape， the number of single-row annularly distributed pits， and the row spacing on the adsorption force of the sucker. The test showed that the sucker with different morphological parameters on the surface had different effects on the adsorption force of the sucker. When the pit diameter was 1.5 mm， the number of single-row annular pits was 40， and the row spacing was 4 mm， the adsorption force of the bionic sucker on the substrate surface was 49.54 N. Compared with the normal sucker， the maximum adsorption force of the bionic sucker on the substrate surface was increased by 49.21%. The mathematical regression model was established between the design factors and the evaluation index. The response surface method was used to analyze the significant factors affecting the pit parameters on the adsorption force of the bionic sucker. The significant order of the influence on the sucker adsorption force was determined as row spacing， pit diameter， and the number of single-row annular distribution pits. The analysis showed that the shape of the pits on the working surface changed the distribution of contact pressure and friction stress on the working surface of the sucker. The pit shape increased the friction stress and contact pressure at the edge of the pit. In addition， the friction stress and contact pressure of the working surface of the bionic sucker were greater than that of the standard sucker， which improved the adsorption force of the bionic sucker on the surface of the substrate. This present study would help to improve the adsorption performance of the sucker by designing bionic pits on the working surface of the sucker.

Key words: bionic, pit, sucker, adsorption force, adsorption mechanism, design and experiment

中图分类号:

TB17

丛茜,徐金,史孝杰,金敬福,陈廷坤. 仿生凹坑型吸盘设计与试验[J]. 吉林大学学报(工学版), 2024, 54(4): 1144-1152.

Qian CONG,Jin XU,Xiao-jie SHI,Jing-fu JIN,Ting-kun CHEN. Bionic pit design and experiment of the sucker[J]. Journal of Jilin University(Engineering and Technology Edition), 2024, 54(4): 1144-1152.

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试验编号	X₀	X₁（z₁）	X₂（z₁）	X₁（z₂）	X₂（z₂）	X₁（z₃）	X₂（z₃）
1	1	-1	1	-1	1	-1	1
2	1	-1	1	0	-2	0	-2
3	1	-1	1	1	1	1	1
4	1	0	-2	-1	1	1	1
5	1	0	-2	0	-2	-1	1
6	1	0	-2	1	1	0	-2
7	1	1	1	-1	1	0	-2
8	1	1	1	0	-2	1	1
9	1	1	1	1	1	-1	1
b_j	44.563	1.848	0.085	1.130	-0.473	2.722	-0.415
S_j		20.498	0.130	7.661	4.033	44.445	3.100
F_j		143.846	0.913	53.764	28.300	311.894	21.755
α_j		0.01	>0.25	0.05	0.05	0.01	0.05
回归检验	S=80.6116，f=8；S_回=79.7371，f_回=5；S_R=0.8745，f_R=3；S_e=0.285，f_e=2；S_lf=0.5895，f_lf=1； F_回=54.7071>F_0.01（5，3）=28.24；F_lf=0.57<F_0.25（1，2）=2.57

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