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| 1 | Design and Experiment of a Deformable Bird-inspired UAV Perching Mechanism显示文摘Energy consumption and acoustic noise can be significantly reduced through perching in the sustained flights of small Unmanned Aerial Vehicles(UAVs).However,the existing flying perching robots lack good adaptability or loading capacity in unstructured environments.Aiming at solving these problems,a deformable UAV perching mechanism with strong adaptability and high loading capacity,which is inspired by the structure and movements of birds'feet,is presented in this paper.Three elastic toes,an inverted crank slider mechanism used to realize the opening and closing movements,and a gear mechanism used to deform between two configurations are included in this mechanism.With experiments on its performance towards different objects,Results show that it can perch on various objects reliably,and its payload is more than 15 times its weight.By integrating it with a quadcopter,it can perch on different types of targets in outdoor environments,such as tree branches,cables,eaves,and spherical lamps.In addition,the energy consumption of the UAV perching system when perching on objects can be reduced to 0.015 times that of hovering. | Long Bai Hao Wang Xiaohong Chen Jia Zheng Liming Xin Yupeng Deng Yuanxi Sun | 2021 | Journal of Bionic Engineering2021，18，6： | 1 |
| 2 | 变模量聚氯乙烯凝胶仿生黏附材料及其在机械抓手上的应用显示文摘受大壁虎脚趾的微观结构启发,首先将两种不同模量的聚氯乙烯(PVC)凝胶浇注在表面有微孔阵列的硅模板上,制备出一种变模量仿生黏附材料。然后,对变模量和固定模量的仿生黏附材料在光滑玻璃片和具有不同表面粗糙度的印刷电路板(PCB)上进行黏附力测试。测试结果表明,变模量PVC凝胶仿生黏附材料的表面微柱阵列可以在保持大长径比的同时有更好的末端适应性,针对粗糙PCB的黏附力是固定模量仿生黏附材料的2~5倍;此外,PVC凝胶仿生黏附材料还具有易脱模的特性。最后,模仿大壁虎爬行时脚趾的翻折动作研制了仿生黏附抓手,配合所制备的变模量PVC凝胶仿生黏附材料成功地实现了对PCB的抓取与释放。 | 张昊 何青松 田成博 吴雨薇 赵泽芳 于敏 | 2022 | Journal of Central South University2022，29，6： | 0 |
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