仿蝗虫脚掌的机器人脚结构设计及其优化
摘要
According to the structural characteristics and material properties of locust’s pads, a new kind of bionic robot foot with petal-type structure was designed. Its contact mechanics and grip performance was analyzed using finite element method. At the same time, the sample of bionic robot foot was made using rapid prototyping method and traditional manufacture method; the tribological properties of the sample were tested with CETR to verify the reliability of finite element analysis results. Furthermore, an optimum design of the robot foot structure was performed. The results demonstrate that this kind of the petal-type robot foot has great grip performance, and with a certain carrying capacity guarantee, the fewer the numbers of petal structure, the better the grip performance of the robot foot.