An advanced electro-active dry adhesive,which was composed of a mushroom-shaped fibrillar dry adhesive array actuated by an Ionic Polymer Metal Composite (IPMC) artificial muscle reinforced with nitrogen-doped carbon nanocages (NCNCs),was developed to imitate the actuation of a gecko's toe.The properties of the NCNC-reinforced Nafion membrane,the electromechanical properties of the NCNC-reinforced IPMC,and the related electro-active adhesion ability were investigated.The NCNCs were uniformly dispersed in the 0.1 wt% NCNC/Nafion membrane,and there was a seamless connection with no clear interface between the dry adhesive and the IPMC.Our 0.1 wt% NCNC/Nafion-IPMC actuator shows a displacement and force that are 1.6-2 times higher than those of the recast Nafion-IPMC.This is due to the increased water uptake (25.39%) and tensile strength (24.5 MPa) of the specific 3D hollow NCNC-reinforced Nafion membrane,as well as interactions between the NCNCs and the sulfonated groups of the Nafion.The NCNC/Nafion-IPMC was used to effectively actuate the mushroom-shaped dry adhesive.The normal adhesion forces were 7.85 mN,12.1 mN,and 51.7 mN at sinusoidal voltages of 1.5 V,2.5 V,and 3.5 V,respectively,at 0.1 Hz.Under the bionic leg trail,the normal and shear forces were approximately 713.5 mN (159 mN·cm-2) and 1256.6 mN (279 mN·cm-2),respectively,which satisfy the required adhesion.This new electro-active dry adhesive can be applied for active,distributed actuation and flexible grip in robots. 相似文献
The anti-adhesive surfaces have always aroused great interest of worldwide scientists and engineers.But in practical applications,it often faces the threat and impact of temperature and humidity.In this work,the excellent anti-adhesive performance of maize leaf under high temperature and humidity were investigated in detail.Firstly,the adhesion forces of the maize leaf surface under different temperature and humidity were measured by using Atomic Force Microscopy (AFM).The temperature of the substrate was varied between 23 ℃ to 100 ℃,and the ambient relative humidity is from 18% to 100%.It was found that the adhesion force of maize leaf decreased with the increase of temperature and humidity.The mechanism of its excellent anti-adhesive performance of maize leaf under high temperature and relative humidity was revealed.The transverse and longitudinal ridges on maize leaf surface interlace with each other,forming small air pockets,which reduces the actual contact area between the object and the maize leaf.With the increase of humidity,the liquid film will be formed in the air pockets gradually and so much water vapor is produced with increase of temperature.Then the air flow rate increases though the wavy top of transverse ridges,inducing the dramatic decrease of adhesion force.Inspired by this mechanism,four samples with this bionic structure were made.This functional "biomimetic structure" would have potential value in the wide medical equipments such as high frequency electric knife with anti-adhesion surface under high temperature and high humidity. 相似文献
This study presents a piezoelectric rotary actuator which is equipped with a bionic driving mechanism imitating the centipede foot.The configuration and the operational principle are introduced in detail.The movement model is established to analyze the motion of the actuator.We establish a set of experimental system and corresponding experiments are conducted to evaluate the characteristics of the prototype.The results indicate that the prototype can be operated stably step by step and all steps have high reproducibility.The driving resolutions in forward and backward motions are 2.31 μrad and 1.83 μrad,respectively.The prototype can also output a relatively accurate circular motion and the maximum output torques in forward and backward directions are 76.4 Nmm and 70.6 Nmm,respectively.Under driving frequency of 1 Hz,the maximum angular velocities in forward and backward directions are 1029.3 μrad·s-1 and 1165 μrad·s-1 when the driving voltage is 120 V.Under driving voltage of 60 V,the angular velocities in forward and backward motions can be up to 235100 μtrad·s-1 and 153650 prad·s-1 when the driving frequency is 1024 Hz.We can obtain the satisfactory angular velocity by choosing a proper driving voltage and frequency for the actuator. 相似文献
The variability of fiber type distribution in nine limb muscles was examined with histochemical and tensiomyographical (TMG) methods in two groups of 15 men aged between 17 and 40 years. The aim of this study was to determine the extent to which the relative occurrence of different fiber types and subtypes varies within human limb muscles in function to depth and to predict fiber type proportions with a non-invasive TMG method.
The distribution of different fiber types varied within the muscles, as a function of depth, with a predominance of type 2b fibers at the surface and type 1 fibers in deeper regions of the muscle. For all the analyzed muscles the contraction times measured at stimulus intensity 10% of supramaximal stimulus (10% MS) were significantly (p<0.05) shorter than the contraction times measured at 50% of supramaximal stimulus intensity (50% MS). The Pearson's correlation coefficient between percentage of type 1 muscle fibers measured at the surface of the muscle and contraction time at 10% MS, obtained by TMG was statistically significant (r=0.76,P<0.01). Also the Pearson's correlation coefficient between percentage of type 1 muscle fibers measured in the deep region of the muscle and contraction time at 50% MS obtained by TMG was also statistically significant (r=0.90,P<0.001).
These findings suggest that the contraction time obtained by TMG may be useful for non-invasive examining of muscle fiber types spatial distribution in humans. 相似文献