【摘要】 壁虎通过脚掌独特的外翻机制可以迅速地在壁面实现黏附与脱附。本文通过对壁虎脚掌外翻脱附过程的仿生研究，模仿壁虎外翻脱附机理，以形状记忆合金丝为驱动器，设计仿壁虎柔性脚掌，开展力学分析与计算。基于形状记忆合金的驱动特性及仿壁虎机器人的运动步态，设计了仿壁虎柔性脚掌的控制策略。最后分析了脚趾有无外翻动作脱附时的受力情况，实验测试了柔性脚趾的弯曲与外翻脱附性能，验证了仿壁虎柔性脚掌设计的有效性和可行性。更多还原

【Abstract】 Geckos can quickly adhere to and detach from the wall through the unique valgus mechanism of the soles of its feet. In this paper, by studying the bionics of the valgus desorption process of gecko’s feet, the mechanism of gecko’s valgus detachment is simulated, the shape memory alloy wire is used as the driver to design gecko’s flexible feet, and the mechanical analysis and calculation are carried out. Based on the driving characteristics of shape memory alloys and the gait of gecko robots, a control strategy for imitating gecko flexible feet is designed. Finally, the force of the toes with or without valgus detachment is analyzed, the bending performance and valgus detachment performance of flexible toes are tested, and the effectiveness and feasibility of the design of the gecko-like flexible feet are verified.更多还原