文档介绍：南京航空航天大学
硕士学位论文
不同材料表面壁虎脚掌粘附机制研究
姓名:顾伟
申请学位级别:硕士
专业:机械设计及理论
指导教师:吉爱红
2011-03
南京航空航天大学硕士学位论文
摘要
壁虎具有在不同材料的墙面或天花板上的运动附着能力。用三维运动力测试系统测量
大壁虎在正/零/负三表面(水平面、竖直面与天花板)上的不同材料表面(玻璃、有机玻
璃、特氟龙、铝、不锈钢)运动时的三维接触力,并结合高速摄像记录大壁虎在爬行时的
运动行为,获得大壁虎在上述各表面上爬行时的运动特征。比较并分析了大壁虎在不同状
态下爬行时的力学参数,步态特征,质心速度与机械能的变化规律,讨论了壁虎脚掌粘附
机制及其与接触表面特性之间的关系。
实验结果表明,大壁虎在所有材料的水平表面上能够自由运动;在玻璃、有机玻璃、
特氟龙和铝的竖直表面能够自由运动,而在不锈钢表面则不能稳定粘附;在玻璃和有机玻
璃的天花板表面能自由运动,在特氟龙、铝和不锈钢表面会发生滑落现象。壁虎在不同材
料的水平面和竖直面上爬行时以对角步态为主,在不同材料的天花板表面上爬行时以三角
步态为主,主要通过提高步频来提高速度,受步距速度的影响很小。大壁虎在粘附性能较
差的表面上运动时,会通过增大脚掌与运动表面的接触时间,减小脚掌在空中摆动的时间
来实现在危险表面上的稳定粘附,并通过降低步频与减小步距来保证运动的可行性。壁虎
脚掌与爬行表面之间的粘附效果不仅与表面能有一定的关系(表面能越高粘附性能越好),
而且与爬行表面的分子结构也有关系。
关键词:大壁虎,运动,动力学,粘附机制,表面能
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不同材料表面壁虎脚掌粘附机制的研究
ABSTRACT
Geckos have the ability of vertical climbing or inverted walking when the substrates were
made of different material. By using a 3-dimensional force measurement system, the
3-dimensional reaction forces were measured when geckos climbing on all kinds of surface
(on horizontal surface, on walls, on ceilings) and on different material surface (on glass,
plexiglass, Teflon, aluminium and stainless steel) respectively. otion behavior was also
recorded by a high speed camera. Kinematics and dynamics of geckos’ otion were
analyzed. The relationship between adhesive mechanisms of gecko feet and the substrates’
characteristic was discussed.
We discovered that geckos can freely walk on horizontal substrates made of all kinds of
materials, can freely climb on vertical substrates made of glass, plexiglass, Teflon and
aluminium but hardly adhere on stainless steel, can freely walk on ceilings made of glass and
plexiglass but can not move freely on Teflon, aluminium and stainless steel. Geckos employed
trot gait when climbing on horizontal and vertical surfaces, but employed triangle gait when
walk on ceilings. It is confirmed that higher vertical otor speed are realized mainly by
increasing stride frequency. And strid