鲍鱼高吸附性能研究及仿生吸盘设计

发布时间：2017-12-31 05:34

本文关键词：鲍鱼高吸附性能研究及仿生吸盘设计　出处：《吉林大学》2017年硕士论文　论文类型：学位论文

【摘要】：随着科学技术的不断进步,人们对生产生活中自动化水平的要求显著提高,真空吸盘类机器人、机械手和大功率吸附设备作为自动吸附装备的主要部件,在科学研究、工业生产、军事侦察和物流运输等领域极大的提高了作业效率和精度。此外,在世界各国工农业生产和百姓的日常工作生活中,新能源和清洁能源的使用引起越来越多的关注,并且快速普及开来。而真空吸附设备作为清洁能源的典型代表,将其使用性能进行优化开发,对于推广清洁能源战略,具有十分重要的意义。仿生学作为一门新兴的模仿生物高超本领的学科,对于生物的结构仿生和形态仿生已经取得了许多优秀的仿生成果,极大的丰富和便利了我们日常的工作和生活。在掌握国内外真空吸盘研究现状的基础上,从仿生学角度出发,选取了具有极佳吸附性能的海洋生物皱纹盘鲍为仿生原型,对其进行研究试验:分别应用体视显微镜、扫描电子显微镜对皱纹盘鲍腹足的生物形态进行观测,得出腹足具有功能分区结构,腹足表面分布有直径为0.5μm、长度为3.5μm、密度为55根/μm2的刚毛;使用拉伸试验机测量皱纹盘鲍对于不同材料和不同结构形态接触面的吸附力,分析得出腹足吸附力来自于范德华力、毛细力和真空负压力;利用高速摄像机对皱纹盘鲍吸脱附及爬壁运动中腹足形态变化进行观测,得出鲍鱼腹足抑制脱附的形态特征,总结出提高鲍鱼吸附性能的结构要素,发现鲍鱼腹足表面上具有多处规律的褶皱结构,对于提升腹足的吸附效果起到重要作用。根据真空吸盘的使用原理和机械设计理论,结合鲍鱼提高吸附性能的结构要素,对现有真空吸盘结构进行仿生优化设计与建模,使用3D打印机进行柔性材料和刚性材料相结合的仿生吸盘制造,利用拉伸试验机,对比测试标准吸盘和仿生吸盘的吸附效果。结果表明仿生吸盘较标准吸盘吸附力提高62.54%,提升效果明显,意味着仿生结构对真空吸盘使用中的吸附性和稳定性有着积极的促进作用。利用有限元ANSYS Workbench对工作状态下的标准吸盘和仿生吸盘进行受力分析,得出仿生吸盘表面的非光滑结构使作用在吸盘顶端的拉力出现应力集中,能够改变作用在吸盘表面的应力方向,使作用在吸盘底端边缘的应力减小,对脱附拉力起到抑制作用,从而增强仿生吸盘的吸附性能。
[Abstract]:With the continuous progress of science and technology, people on the level of automation in the production and life significantly improved, vacuum suction robot manipulator and large power equipment as the main component of the automatic adsorption adsorption equipment, industrial production in scientific research, military reconnaissance, logistics and transport and other fields has greatly improved the working efficiency and accuracy. In addition, in the world of industrial and agricultural production and people's daily life, the use of new energy and clean energy has attracted more and more attention, and quickly spread. And vacuum adsorption equipment as a typical representative of clean energy, the use of performance to optimize the development, for the promotion of clean energy strategy, it has very important significance. Bionics as an emerging discipline that mimic biological prowess, the bionic structure and bionic biology has made many excellent bionic The results, rich and great convenience to our daily life and work. Based on the domestic and foreign research status of vacuum chuck, from the view of bionics, the adsorption with the excellent marine abalone as the bionic prototype, experimental study on the application of stereo microscope respectively, biological morphology of Haliotis Bao Gasteropod scanning electron microscope observation, the gastropod has the structure function partition, the distribution of gastropod surface has a diameter of 0.5 m, the length is 3.5 m, the root density is 55 / m2 setae; using tensile test machine to measure abalone for different materials and different structure forms the contact surface adsorption capacity analysis from adsorption force from the Yu Fandehua force, capillary force and vacuum negative pressure; using high speed camera to abalone desorption and change of wall motion in form of climbing gastropods were observed, the abalone belly The morphological characteristics of the foot on the process, summed up to improve the structural elements of the adsorption properties of abalone, found the fold structure has many rules on the surface of the gastropod abalone, to enhance the adsorption effect of gastropods play an important role. According to the principle and mechanical design theory of vacuum sucker, combined with improved adsorption properties of structural elements of abalone, bionic optimization design and modeling of the existing vacuum sucker structure, bionic sucker using 3D printer of flexible material and rigid material combination of manufacturing, using tensile test machine, the adsorption effect of contrast test standard sucker and bionic sucker. The results show that the bionic sucker suction force is increased by 62.54% compared with the standard, enhance the effect, means with bionic structure positive effects on the absorption and stability of vacuum chuck is used. By using the finite element ANSYS Workbench standard of working condition The stress analysis of sucker and sucker bionic, non smooth structure makes the effect appeared in the top of the suction tension stress concentration that can change the surface of bionic sucker, sucker in surface stress direction, the effect of reducing stress on the edge of the bottom end of the sucker, the inhibiting effect on the desorption force, thereby enhancing the adsorption the performance of the bionic sucker.

【学位授予单位】：吉林大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：Q811

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