Method for preparing a hydraulically-driven flexible gecko-imitating toe

Abstract

The invention discloses a method for preparing a hydraulically-driven flexible gecko-imitating toe. The specific structure of the hydraulically-driven flexible gecko-imitating toe comprises upper twocavities and liquid guiding pipes, wherein the upper two cavities are prepared from polydimethylsiloxane; the outer surface of an active layer of each cavity is provided with uniform trapezoidal grooves and spiral winding wires; the two cavities share a passive layer, and the passive layer is embedded with a single-layer polyester single screen; and flap strip-shaped convex planes are arranged onthe surface of the bottom side of the toe, and a layer of bristle-imitating array adhesion materials are attached to the convex planes. The multifunctional functions of adduction, evagination and adhesion under hydraulically driven of the gecko-imitating toe can be realized by imitating the behavior mode of adduction and evagination of a gecko toe and the structural characteristics of a bristle array, and key technical support is provided for the development and application of gecko-imitating robots.

Description

technical field [0001] The invention belongs to the technical field of gecko-imitation robots, and particularly relates to a method for preparing a hydraulically driven gecko-imitation flexible toe that can be adducted, everted and adhered by using polydimethylsiloxane (PDMS). Background technique [0002] The gecko-like robot has wide application potential in the fields of cleaning the outer wall of buildings and maintenance outside the space capsule, and it is inseparable from the toes that make it move freely. The toes of traditional gecko-like robots are mostly mechanically driven by rigid connection (see Chinese invention patent application number CN200610150939.1), which has a complex structure and mostly rigid contact with the contact surface, which is not conducive to the gecko-like robot's inclination or bending. Surface walking and climbing. [0003] The gecko's claws are very soft, and the toes are composed of row-shaped flaps that can be turned in and out, and e...

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Problems solved by technology

Galloway et al. designed and prepared a fiber-reinforced gas actuator, which can obtain greater end force (Galloway K C, Polygerinos P, Walsh C J, et al. Mechanically programmable bend radius for fiber-reinforced soft actuators. International Conference on Advanced Robotics. IEEE, 2014:1-6.), but the gas is highly compressible, and the pressure generated by the same volume is far less than that of liquid

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