动物接触力测试系统的研制与应用

Development of Measuring System for Animal’s Surface Reaction Force

中文关键词:  测试系统  树蛙  接触力  传感器

英文关键词:measurement system  tree-frog  surface reaction force  sensor

中文摘要:

      研究爬壁动物在爬壁运动时其足掌与接触面间的接触力学规律及其运动步态，可为爬壁机器的设计与控制提供重要启示。研制的动物接触力测试系统由三维力传感器、信号调理模块、数据采集与处理模块、动态图像的记录与分析等组成，可用于树蛙、壁虎等在不同表面状况下的足掌与接触面之间的接触力学测试。利用该系统进行了树蛙垂直表面爬行时的力学测试，分析了三维接触力在树蛙运动过程中的变化规律。

英文摘要:

      By measuring the target surface-foot reaction forces generated by animal’s walking on an inverted surface,the adhesive mechanism and locomotion dynamics can be learned.A measurement system for animal’s surface reaction force is composed of a 3-D force sensor,signal amplification,data acquisition and processing and dynamic images manipulation.The system is of great importance in animal’s locomotive measurement.Mechanical testing about the tree-frog when crawling on the vertical surface are done by using the system and the changing regularity of the 3-D reaction force during the tree-frog’s movements is analyzed.