【作者】 颜化冰；

【导师】 戴振东；

【作者基本信息】 南京航空航天大学 ， 机械设计及理论， 2006， 硕士

【摘要】 昆虫脚掌3维接触力测试系统用于测试昆虫在各种表面(地面、壁面、天花板)上自由爬行时,脚掌与表面接触时产生的3维接触力。该系统包括3维微力传感器阵列、信号调理与数据采集装置,以及测试软件3个部分。3维微力传感器是基于半导体应变测试技术制成的多维力传感器,介绍了它的结构和原理。为了验证这种传感器用于测量微小3维接触力的可行性,在有限元分析软件Ansys中对传感器进行了结构分析和模态分析。分析数据显示,该结构可以进行这种小量程下的多维力测试,可以用于昆虫脚掌3维接触力测试实验。用1个传感器测量黄斑蝽在水平面上直行和在垂直表面向上爬行时单个脚掌与表面间的接触力。当黄斑蝽向上爬行时可以测到脚掌与表面之间的粘附力。这种吸附力可以防止垂直向上爬行过程中身体翻转。将16个3维微力传感器组成规模为4×4的传感器阵列。传感器成环形围绕在四周,中间为16㎜×16㎜范围内的测力片阵列。通过设计传感器位置调整装置,可以将测力片位置调整到设计位置。该测试系统采用NI公司的SCXI应变信号调理系统和相应的数据采集装置。实验测试软件在LabVIEW平台下开发完成。通过测试昆虫在各类不同表面爬行过程中的脚掌与表面接触力,可以更深入的了解昆虫爬行过程中的吸附机制和运动规律。该研究为动物运动学研究和6足仿生机器人的研究提供启示。更多还原

【Abstract】 Insect’s 3-dimensional feet force measuring system is used to measure the contact force between insect’s feet and the surface when it is crawling on all kinds of surface. This system consists of 3-dimensional micro force sensor array, signal conditioning system and measuring software.The structure and the principle of a 3-dimensional micro force sensor is introduced. This sensor is used to measure the 3-dimensional contact force of insects’feet on target surface. The feasibility is proved by structure and modal analysis in Ansys. The result of measurement revealed this sensor is suitable for insect experiment. It is used to measure 3-dimensional contact force generated by individual leg of the stinkbug Eerthesina fullo when moving on the level and vertical surfaces. Eerthesina fullo’s adhensive force was measured when walking upright and climbing vertically. The legs of insect generates adhesive force to avoid overturning when climbing vertically. The sensor array is made up of 16 3-dimensional micro force sensors. It is a 4×4 array. The sensors lines up in a circle. The measuring area is 16㎜×16㎜ in the centre. The position adjustment is designed to keep the sensor’s position correct.NI’s SCXI signal conditioning modules is used in this system., and the measuring software is developed in LabVIEW. By measuring the target surface-foot reaction forces generated by insects on various surfaces, we can understand adhesion mechanism and locomotion. The study sheds light on the study of animal’s locomotion and the design of bio-inspired robot with six legs.更多还原