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Analysis of Gecko’s Kinematical Reaction Force Experiment

Author: WangZhouYi
Tutor: DaiZhenDong;JiAiHong
School: Nanjing University of Aeronautics and Astronautics
Course: Mechanical Design and Theory
Keywords: Sensor array 3-dimensional reaction force Incipinent contact force Gecko
CLC: Q811
Type: Master's thesis
Year: 2009
Downloads: 25
Quote: 1
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Abstract


Gecko’s kinematics force measuring system is used to measure the reaction force between Gecko’s feet and the surface when it is crawling on all kinds of surface(on horizontal surface, on walls, on ceilings),and write down images of Gecko’s movement at the same time. The system is consisted by 3-dimensional sensor array,signal conditioning system,images requiring system and measuring software.A large number of force data were obtained by the test system after a great amount of experiment. By these force data and the image material,the regularity of three-dimensional contact force in horizontal,vertical and ceiling surface was researched,meanwhile,the affect of each paw to the locomotion of the gecko was analyzed in a single gait cycle. At last,a primary description about the gecko locomotion principle was acquired mainly focused on the force analysis.The preload force on the vertical surface and ceiling of the gecko was tested for the first time in this paper. The relationships between the preload force and the moving speed,the preload force and the contact time were studied in detail; the force of a single toe was analyzed as well.By measuring the different target surface reaction force,Gecko’s adhesion mechanism and locomotion were analyzed. It can help to understand the kinematics and neurology of animal’s locomotion. It sheds light on the study of animal’s locomotion. The results have obvious implications for inspired the design of bio-inspired robot by the gecko’s locomotion mechanism.

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