吉林大学学报(工学版) ›› 2017, Vol. 47 ›› Issue (2): 546-551.doi: 10.13229/j.cnki.jdxbgxb201702028

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基于多种介质的仿生步行足力学特性

王颖, 李建桥, 张广权, 黄晗, 邹猛   

  1. 吉林大学 工程仿生教育部重点实验室,长春 130022
  • 收稿日期:2016-01-11 出版日期:2017-03-20 发布日期:2017-03-20
  • 通讯作者: 李建桥(1953-),男,教授,博士生导师.研究方向:地面机械仿生技术.E-mail:jqli@jlu.edu.cn
  • 作者简介:王颖(1982-),女,博士研究生.研究方向:地面机械仿生技术.E-mail:wang_ying13@mails.jlu.edu.cn
  • 基金资助:
    国家自然科学基金项目(51375199).

Mechanical characteristics of bionic walking foot in different media

WANG Ying, LI Jian-qiao, ZHANG Guang-quan, HUANG Han, ZOU Meng   

  1. Key Laboratory of Bionic Engineering, Ministry of Education, Jilin University, Changchun 130022, China
  • Received:2016-01-11 Online:2017-03-20 Published:2017-03-20

摘要: 以中华绒螯蟹步足为研究对象,基于步足指节结构特征设计了4种仿生步行足:圆锥、圆锥沟纹、棱锥、圆柱沟纹步行足,并以圆柱足为对照原型。分别对5种步行足在不同含水率的石英砂和黏土中进行土槽试验,测试步行足的抗沉陷性能、能量消耗和推进性能。通过与圆柱足的对比试验表明:在多种土壤介质中,仿生步行足具有较好的力学特性。4种仿生足与介质接触过程的能量消耗显著低于圆柱足,仿生步行足可比圆柱足入土能耗最多降低95.12%,出土能耗减少45.88%~91.23%;圆柱沟纹仿生足在介质中的支承力提高6.61%~21.81%,推进力增加5.30%~20.88%,表现出优于圆柱足的抗沉陷性性能和推进性能。

关键词: 工程仿生学, 步行足, 中华绒螯蟹, 力学特性, 介质

Abstract: Chinese mitten crabs, Eriocheir sinensis, were chosen as the research subjects, and four bionic walking feet were designed based on the structure of dactylopodite, including cone foot, cone foot with grooves, pyramid foot and cylinder foot with grooves. Cylinder foot was the prototype for comparison. Experiments for walking feet were carried out in sand and soil with different moisture content. The characteristics of resisting subsidence, energy consumption and propulsion performance of the feet were investigated. Results show that, compared with the prototype, bionic walking feet have superior mechanical characteristics. The energy consumption of the bionic feet was lower, the intrusion energy consumption was 95.12% lower, and the extraction energy consumption was 45.88% to 91.23% lower than the prototype. For cylinder foot with grooves, the bearing force in the medium increased by 6.61% to 21.81%, and the propulsive force increased by 5.30% to 20.88% compared to the prototype. It indicates that the resisting subsidence and propulsion performance of the cylinder foot with grooves are better than the prototype.

Key words: bionic engineering, walking foot, Chinese mitten crab, mechanical characteristics, media

中图分类号: 

  • TH122
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