仿喉盘鱼“吸盘-刚毛”复合结构的吸-黏附协同作用机理研究

Bio-inspired wall-climbing robots are miniature, agile, and easy to maneuver, thus are potential in developing the automatic surface detection technology. However, current biomimetic technology limits the application of bio-inspired wall-climbing robots on wet and rough surfaces, due to some disadvantages of the synthetic adhesive, including the low adhesive capacity, weak adjustment capability, poor adaptability, etc. The clingfish (Gobiesox maeandricus) exhibits remarkable adhering ability on wet and rough surfaces. This function is achieved by its compound adhering organ made up of a suction cup and setal arrays on the cup's edge. Learning from the clingfish, this project will mimic the unique adhering structure and mechanism to break though the limit in wet adhesion. Firstly, a multiscale and hierarchical mechanical model will be built, which takes into account the interactions between different scales, to interpret the synergy adhering mechanism of suction and adhesion. The effects of the surface roughness and the liquid film will also be considered. Based on the model, a synthetic device with the bio-inspired compound structure will be designed and fabricated. An actuator which induces the attachment and detachment will be integrated. Optimization will be carried out to maximize the stability of the adhering of the device. Finally, a customized testing apparatus will be established, and the function of the synthetic adhering device will be verified. The design and fabrication of wall-climbing robots for wet and rough surfaces will benefit from the theoretical and technical approach of the project. The approach will further extend the application of bio-inspired surfaces in the field of wet adhesion, and is also promising in the commercialization and industrialization.

仿生爬壁机器人具有体积小、机动性强、易操控等优点，是新一代自动化壁面检测技术的发展方向之一。现有仿生技术存在黏附力低、调控能力弱、功能单一等不足，严重制约了仿生爬壁机器人在湿滑粗糙表面检测上的应用。喉盘鱼具有强大的吸附能力，其独特的“吸盘-刚毛”复合结构及其吸-黏附协同作用功能为突破这一局限提供了新思路。本项目通过模仿喉盘鱼腹鳍和胸鳍间的吸盘及其边缘刚毛结构, 研究“吸盘-刚毛”复合结构的吸-黏附协同作用机理,通过分析吸盘与壁面的力学耦合关系，建立湿滑粗糙表面仿生吸盘腔体与边缘层级结构的作用模型；搭建测试平台，验证其吸附性能;在此基础上实现仿生吸-黏附结构优化设计。研究内容包括驱动单元集成, 制备工艺开发，自主“吸附-脱附”仿生吸盘器件的研制。本项目将为湿滑粗糙表面爬壁机器人设计与制造提供新的理论与技术支持。研究成果将拓展仿生表面在湿黏附领域的应用范围，具有重要的学术意义和产业化应用前景。

许多水生鱼类具有强大的吸附能力，其独特的吸盘结构为突破湿滑粗糙表面附着难题提供了新思路。本项目从仿生学角度，针对吸盘鱼类特异性功能形态，提出相应的仿生结构，并开展了相关研究，主要包括：仿生原型观察、仿生模型建立、仿生结构设计制作以及试验。首先，开展了针对具有湿滑粗糙表面攀爬附着能力的典型鱼类，包括喉盘鱼（Clingfish）、贵州爬岩鳅（Guizhou Gastromyzontidaes）等生物体表微纳形貌研究。着重对我国常见的贵州爬岩鳅的吸盘结构进行了观察分析。通过扫描电子显微镜（SEM）发现其吸盘周边胸鳍、腹鳍鳍条呈现类似于“山脊-平原”的亚微观形貌，而“山脊”、“平原”及其间的“坡面”则存在三种不同结构的微纳米形貌，包括：“山脊”处规则柱状凸起结构；“坡面”处规则多边形阵列及其内部包围的绒毛凸起结构；“平原”处椭圆形深坑结构。其中绒毛凸起结构最小尺度达到数百纳米级。在仿生建模方面，建立了一种爪刺黏附结构功能单元及其阵列与粗糙壁面接触力学模型，揭示了吸盘唇边黏附单元的剪切增强特性；通过有限元方法计算了内嵌SMA丝与吸盘的形变耦合作用，揭示了其“吸-脱附”切换原理。在仿生吸盘样件的设计制造方面，发展出一套仿生吸盘一体化浇铸制造工艺，研制出内嵌SMA驱动器，以及唇边具有微米级结构的仿生吸盘。实验发现，唇边具有微米级仿生结构的吸盘在水下粗糙表面吸附能力要高于普通吸盘，最大提升幅度可达200%。其内嵌的SMA驱动器可以有效控制仿生吸盘“吸-脱附”动作。本项目结果验证了仿生吸盘在特定环境下的吸附增强功能，研究成果有望为湿滑粗糙表面仿生爬壁机器人提供关键性理论基础与技术支持。