中图分类号Q811.6 论文编号102870515-B015 学科分类号080203 博士学位论文 大壁虎斜面运动力学、脚趾外翻脱附 力学及其仿生研究 国家自然科学重点项目（编号：60535020） 国家自然科学重大国际合作项目（编号：60910007：61161120323）资助 研究生姓名 王周义 学科、专业 机械设计及理论 研究方向 运动力学 指导教师 戴振东教授 吉爱红教授 南京航空航天大学 研究生院机电学院 二零一五年五月 万方数据
中图分类号 Q811.6 论文编号 102870515-B015 学科分类号 080203 博士学位论文 大壁虎斜面运动力学、脚趾外翻脱附 力学及其仿生研究 国家自然科学重点项目(编号：60535020) 国家自然科学重大国际合作项目(编号：60910007；61161120323)资助 研究生姓名 王周义 学科、专业 机械设计及理论 研究方向 运动力学 指导教师 戴振东 教授 吉爱红 教授 南京航空航天大学 研究生院 机电学院 二零一五年五月 万方数据
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Nanjing University of Aeronautics and Astronautics The Graduate School College of Mechanical and Electrical Engineering Research on kinematical reaction force of Gekko gecko on inclines and abducting detachment of toe A Thesis in Mechanical Engineering by Wang Zhouyi Advised by Professor Dai Zhendong Professor Ji Aihong Submitted in Partial Fulfillment of the Requirements for the Degree of Doctor of Philosophy May,2015 万方数据
Nanjing University of Aeronautics and Astronautics The Graduate School College of Mechanical and Electrical Engineering Research on kinematical reaction force of Gekko gecko on inclines and abducting detachment of toe A Thesis in Mechanical Engineering by Wang Zhouyi Advised by Professor Dai Zhendong Professor Ji Aihong Submitted in Partial Fulfillment of the Requirements for the Degree of Doctor of Philosophy May，2015 万方数据
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承诺书 本人郑重声明：所呈交的学位论文，是本人在导师指导下，独立进 行研究工作所取得的成果。尽我所知，除文中已经注明引用的内容外， 本学位论文的研究成果不包含任何他人享有著作权的内容。对本论文所 涉及的研究工作做出贡献的其他个人和集体，均已在文中以明确方式标 明。 本人授权南京航空航天大学可以有权保留送交论文的复印件，允许 论文被查阅和借阅，可以将学位论文的全部或部分内容编入有关数据库 进行检索，可以采用影印、缩印或其他复制手段保存论文。 (保密的学位论文在解密后适用本承诺书) 作者签名： 日 期：4 万方数据
承诺书 本人郑重声明：所呈交的学位论文，是本人在导师指导下，独立进 行研究工作所取得的成果。尽我所知，除文中已经注明引用的内容外， 本学位论文的研究成果不包含任何他人享有著作权的内容。对本论文所 涉及的研究工作做出贡献的其他个人和集体，均已在文中以明确方式标 明。 本人授权南京航空航天大学可以有权保留送交论文的复印件，允许 论文被查阅和借阅，可以将学位论文的全部或部分内容编入有关数据库 进行检索，可以采用影印、缩印或其他复制手段保存论文。 (保密的学位论文在解密后适用本承诺书) 作者签名： 日 期： 万方数据
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南京航空航天大学博士学位论文 摘要 运动是动物的基本特征，很多动物具有超群的运动能力，这种能力源自于动物对运动反力 的精细感知和对运动行为的精确实时调控。壁虎是自然界中具有卓越攀爬能力的代表，能够在 包括地面、垂直墙面、倒置天花板在内的所有斜面上自如运动。对壁虎在倾斜面的攀爬运动的 力学研究，具有重要的科学意义一一理解自然，完善动物运动力学的知识，特别是匍匐运动动 物运动力学的知识，为进化研究提供力学帮助：也具有重要的工程意义一一师法自然，为仿生 机器人，特别是仿壁虎机器人的机构设计、步态规划、力反馈控制等提供仿生启示。 本论文从力测试设备的研制开始，通过测试壁虎在不同倾斜度表面运动的反力及行为，系 统地研究了壁虎是如何调节运动反力及行为以适应斜面倾斜度以及运动方向的变化：然后，从 宏观角度揭示了壁虎脚掌如何与表面形成可靠的附着从而产生在斜面运动所需的力：最后，通 过实验测试了壁虎脚趾外翻的力学规律，揭示壁虎是如何快速地实现脱附。 获得的主要成果如下： 基于自行研制的三维力传感器，设计研制了由多个三维力传感器组成的力测试阵列(MA, Force-Measuring-Aray)为核心的动物全空间运动反力-行为测试系统。相比于传统的力测试平 台(FMP,Force-.Measuring-Platform),该新型的测试系统突破了运动负荷因数对于单腿完整运动 反力测试的限制，使得对于动物运动中肢体间协同作用的研究成为现实。 研究了壁虎在三个典型基底表面（水平面、竖直面和倒置面）自由运动状态下脚掌连续的三 维运动反力，并将反力与运动行为相联系，提出了一种表征运动反力间关系的新方法，从而清 晰地呈现单个步足的运动反力分量之间的关系以及作用于各个步足上运动反力之间的内在联 系。建立了壁虎在三个典型表面的力学模型，发现动物通过调节运动反力模式以应对重力对于 运动的影响从而获得更多的便利—运动安全性的提高或者运动性能的增强。 测试了壁虎在不同倾斜度斜面运动时(0°~180)，其前后脚上的运动反力，获得了运动反力 模式发生变化的倾斜度阈值。壁虎在不同斜度倾斜面上单个脚掌运动反力的研究表明精确的力 控制不但增强了动物在倾斜表面的运动能力，同时极大地的提高了运动的稳定性。建立了运动 单元多级协同作用模型，说明不同层级运动单元间的协调作用是壁虎能够在倒置表面运动的必 要条件之一。 通过研究壁虎爬坡过程中脚掌与基底间接触的方式以及反力，获得了脚掌与不同倾斜度斜 面可靠附着的临界角，并建立了壁虎脚掌可靠附着的力学模型。由于脚跟与基底间摩擦系数的 限制，壁虎在无脚趾黏附的帮助下或许只能爬行于小于17°的斜面。受黏附单元性能的限制， 壁虎将不能使用单个脚掌悬挂于大于120°的倾斜面。然而壁虎巧妙地利用了脚掌的摩擦黏附 特性，借助于肢体及姿态的协同作用实现了其在大于120°斜面的运动。 万方数据
南京航空航天大学博士学位论文 i 摘 要 运动是动物的基本特征，很多动物具有超群的运动能力，这种能力源自于动物对运动反力 的精细感知和对运动行为的精确实时调控。壁虎是自然界中具有卓越攀爬能力的代表，能够在 包括地面、垂直墙面、倒置天花板在内的所有斜面上自如运动。对壁虎在倾斜面的攀爬运动的 力学研究，具有重要的科学意义——理解自然，完善动物运动力学的知识，特别是匍匐运动动 物运动力学的知识，为进化研究提供力学帮助；也具有重要的工程意义——师法自然，为仿生 机器人，特别是仿壁虎机器人的机构设计、步态规划、力反馈控制等提供仿生启示。 本论文从力测试设备的研制开始，通过测试壁虎在不同倾斜度表面运动的反力及行为，系 统地研究了壁虎是如何调节运动反力及行为以适应斜面倾斜度以及运动方向的变化；然后，从 宏观角度揭示了壁虎脚掌如何与表面形成可靠的附着从而产生在斜面运动所需的力；最后，通 过实验测试了壁虎脚趾外翻的力学规律，揭示壁虎是如何快速地实现脱附。 获得的主要成果如下： 基于自行研制的三维力传感器，设计研制了由多个三维力传感器组成的力测试阵列(FMA, Force-Measuring-Array)为核心的动物全空间运动反力--行为测试系统。相比于传统的力测试平 台(FMP，Force-Measuring-Platform)，该新型的测试系统突破了运动负荷因数对于单腿完整运动 反力测试的限制，使得对于动物运动中肢体间协同作用的研究成为现实。 研究了壁虎在三个典型基底表面(水平面、竖直面和倒置面)自由运动状态下脚掌连续的三 维运动反力，并将反力与运动行为相联系，提出了一种表征运动反力间关系的新方法，从而清 晰地呈现单个步足的运动反力分量之间的关系以及作用于各个步足上运动反力之间的内在联 系。建立了壁虎在三个典型表面的力学模型，发现动物通过调节运动反力模式以应对重力对于 运动的影响从而获得更多的便利——运动安全性的提高或者运动性能的增强。 测试了壁虎在不同倾斜度斜面运动时(0°~180°)，其前后脚上的运动反力，获得了运动反力 模式发生变化的倾斜度阈值。壁虎在不同斜度倾斜面上单个脚掌运动反力的研究表明精确的力 控制不但增强了动物在倾斜表面的运动能力，同时极大地的提高了运动的稳定性。建立了运动 单元多级协同作用模型，说明不同层级运动单元间的协调作用是壁虎能够在倒置表面运动的必 要条件之一。 通过研究壁虎爬坡过程中脚掌与基底间接触的方式以及反力，获得了脚掌与不同倾斜度斜 面可靠附着的临界角，并建立了壁虎脚掌可靠附着的力学模型。由于脚跟与基底间摩擦系数的 限制，壁虎在无脚趾黏附的帮助下或许只能爬行于小于 17°的斜面。受黏附单元性能的限制， 壁虎将不能使用单个脚掌悬挂于大于 120°的倾斜面。然而壁虎巧妙地利用了脚掌的摩擦黏附 特性，借助于肢体及姿态的协同作用实现了其在大于 120°斜面的运动。 万方数据
通过电刺激控制壁虎黏/脱附行为的对应神经干，实现了脚趾外翻过程的黏附接触力学规律 的测试，发现外翻过程中脱附力与实际加载的外力无关，使得在脱附过程中脚掌依然可以为运 动提供稳定可靠的运动反力。并建立了仿壁虎脚趾的分段非连续外翻模型，与实验结果吻合性 良好，证明了模型以及采用内聚力单元分析方法的有效性，可用于指导仿生黏附系统的设计。 关键词：壁虎，脚趾外翻脱附，运动反力，倾斜面，生物力学，力测试阵列 万方数据
通过电刺激控制壁虎黏/脱附行为的对应神经干，实现了脚趾外翻过程的黏附接触力学规律 的测试，发现外翻过程中脱附力与实际加载的外力无关，使得在脱附过程中脚掌依然可以为运 动提供稳定可靠的运动反力。并建立了仿壁虎脚趾的分段非连续外翻模型，与实验结果吻合性 良好，证明了模型以及采用内聚力单元分析方法的有效性，可用于指导仿生黏附系统的设计。 关键词：壁虎，脚趾外翻脱附，运动反力，倾斜面，生物力学，力测试阵列 万方数据
南京航空航天大学博士学位论文 ABSTRACT Locomotion is an essential character of animals and many animals have excellent moving ability, which results from the delicate sense of the reaction forces acting on body and modulating the behavior to adapt to the motion requirement.With respect to extraordinary climbing ability,a representative kind of animal is the gecko,which is capable of moving freely on slopes of any inclinations,including horizontal floor,vertical walls and even inverted ceilings.Research of biomechanics on geckos climbing on slopes is of great importance to 1)understanding nature, perfection of the kinematic mechanics of animals,especially creeping ones,further the evolution research;2)learning from nature,further inspiring the structural design,gait planning and force-feedback control of bio-robot,especially bio-mimetic gecko robot. This paper first introduces the development of force measuring equipment,which is used to reveal how geckos adjust their reaction forces and locomotion behaviors in response to the angles of slopes and direction of motion is systematically studied;then how geckos attach their feet to the substrate reliably and then exerting enough forces for inclined movement is illustrated in the macroscopic view,at last,the biomechanical properties of hyperextension of a toe is studied and then how geckos detach rapidly from substrates is revealed. The main work and production of the paper are as follows: Based on the self-developed 3D force sensor,Force Measuring Array (FMA)and locomotion behavior observation system was developed.Compared to traditional Force Measuring Platform (FMP),the newly developed system pushed through the limitation of duty factor on measurement of the complete reaction forces of single foot,thus the research on synergistic effect among animals' limbs during locomotion became possible. Continuous 3D reaction forces acting on geckos'feet during geckos moving on three typical inclines(horizon floor,vertical walls and inverted ceilings)were measured.The reaction forces were linked to locomotion behaviors,then a new expression of the reaction forces is put forward as Pattern of Reaction Force(PRF)to clearly show the relationship among three components of reaction forces as well as the internal connection among reaction forces acting on each feet.Three mechanical models of geckos moving on the inclines were also established,which showed that geckos can adjust PRF in response to the effect of gravity on locomotion to obtain multi-profit,i.e.,enhancement of locomotion stability and maneuverability. The reaction forces acting on fore-and hind-limbs during geckos moving on various angles of inclines(0~180)were measured,threshold angles of inclines that PRF changes were also obtained. Research on reaction forces acting on single foot revealed that accurate force control largely enhanced the locomotion performance as well as the stability during geckos moving on various inclines.A ii 万方数据
南京航空航天大学博士学位论文 iii ABSTRACT Locomotion is an essential character of animals and many animals have excellent moving ability, which results from the delicate sense of the reaction forces acting on body and modulating the behavior to adapt to the motion requirement. With respect to extraordinary climbing ability, a representative kind of animal is the gecko, which is capable of moving freely on slopes of any inclinations, including horizontal floor, vertical walls and even inverted ceilings. Research of biomechanics on geckos climbing on slopes is of great importance to 1) understanding nature, perfection of the kinematic mechanics of animals, especially creeping ones, further the evolution research; 2) learning from nature, further inspiring the structural design, gait planning and force-feedback control of bio-robot, especially bio-mimetic gecko robot. This paper first introduces the development of force measuring equipment, which is used to reveal how geckos adjust their reaction forces and locomotion behaviors in response to the angles of slopes and direction of motion is systematically studied; then how geckos attach their feet to the substrate reliably and then exerting enough forces for inclined movement is illustrated in the macroscopic view; at last, the biomechanical properties of hyperextension of a toe is studied and then how geckos detach rapidly from substrates is revealed. The main work and production of the paper are as follows: Based on the self-developed 3D force sensor, Force Measuring Array (FMA) and locomotion behavior observation system was developed. Compared to traditional Force Measuring Platform (FMP), the newly developed system pushed through the limitation of duty factor on measurement of the complete reaction forces of single foot, thus the research on synergistic effect among animals’ limbs during locomotion became possible. Continuous 3D reaction forces acting on geckos’ feet during geckos moving on three typical inclines (horizon floor, vertical walls and inverted ceilings) were measured. The reaction forces were linked to locomotion behaviors, then a new expression of the reaction forces is put forward as Pattern of Reaction Force (PRF) to clearly show the relationship among three components of reaction forces as well as the internal connection among reaction forces acting on each feet. Three mechanical models of geckos moving on the inclines were also established, which showed that geckos can adjust PRF in response to the effect of gravity on locomotion to obtain multi-profit, i.e., enhancement of locomotion stability and maneuverability. The reaction forces acting on fore-and hind- limbs during geckos moving on various angles of inclines (0°~180°) were measured, threshold angles of inclines that PRF changes were also obtained. Research on reaction forces acting on single foot revealed that accurate force control largely enhanced the locomotion performance as well as the stability during geckos moving on various inclines. A 万方数据
大壁虎斜面运动力学、脚趾外翻脱附力学及其仿生研究 model of synergy among hierarchical kinetic units was established to clarify that the synergy among hierarchical kinetic units was a necessary condition for geckos moving on inverted substrates. By observing the contact mode and measuring the reaction forces between geckos'feet and the substrates,the critical angles between reliable attaching feet and the substrates of various inclinations were measured;a mechanical model of reliable attachment of geckos'feet was also established. Limited by the friction coefficient between geckos'heel and the substrates,geckos could only climbing on slopes of inclination less than 17 without the help of adhesion toes.Limited by the performance of adhesive units,geckos cannot hang on a slope of inclination lager than 120 with single limb,nevertheless,with the help of frictional adhesion property of the feet and the synergy among limbs,locomotion on slope of inclination lager than 120 became possible. With the help of neuroscience,the neural stem of single toe corresponding to the attachment and detachment was stimulated by electric current,no relationship was found between the measured forces and external loading forces when the toe abducted,which indicates that the feet can keep on to support locomotion stalely and reliably during detachment.A model of partitioned non-continuous single toe during abducting detachment was established,which was in good agreement with the experimental results,indicated that the model with cohesion elements was effective and can further inspire the design of bio-inspired adhesive system. Keyword:Gekko gecko,Abducting detachment,reaction force,incline,biomedical,force measuring array (FMA) iv 万方数据
大壁虎斜面运动力学、脚趾外翻脱附力学及其仿生研究 iv model of synergy among hierarchical kinetic units was established to clarify that the synergy among hierarchical kinetic units was a necessary condition for geckos moving on inverted substrates. By observing the contact mode and measuring the reaction forces between geckos’ feet and the substrates, the critical angles between reliable attaching feet and the substrates of various inclinations were measured; a mechanical model of reliable attachment of geckos’ feet was also established. Limited by the friction coefficient between geckos’ heel and the substrates, geckos could only climbing on slopes of inclination less than 17° without the help of adhesion toes. Limited by the performance of adhesive units, geckos cannot hang on a slope of inclination lager than 120° with single limb, nevertheless, with the help of frictional adhesion property of the feet and the synergy among limbs, locomotion on slope of inclination lager than 120° became possible. With the help of neuroscience, the neural stem of single toe corresponding to the attachment and detachment was stimulated by electric current, no relationship was found between the measured forces and external loading forces when the toe abducted, which indicates that the feet can keep on to support locomotion stalely and reliably during detachment. A model of partitioned non-continuous single toe during abducting detachment was established, which was in good agreement with the experimental results, indicated that the model with cohesion elements was effective and can further inspire the design of bio-inspired adhesive system. Keyword：Gekko gecko，Abducting detachment，reaction force，incline，biomedical, force measuring array (FMA) 万方数据