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Biorobotic adhesion in water using suction cups

机译：使用吸盘在水中进行生物机器人粘附

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Echeneid fish, limpets and octopi use suction cups for underwater adhesion. When echeneid fish use suckers to 'hitch a ride' on sharks ( which have riblet-patterned skins), the apparent absence of any pump or plumbing may be an advantage over biorobotic suction cups. An intriguing question is: How do they achieve seemingly persistent leak-free contact at low energy cost over rough surfaces? The design features of their suckers are explored in a biorobotic context of adhesion in water over rough surfaces. We have carried out experiments to compare the release force and tenacity of man-made suction cups with those reported for limpets and echeneid fish. Applied tensile and shear release forces were monotonically increased until release. The effects of cup size and type, host surface roughness, curvature and liquid surface tension have been examined. The flow of water in the sharkskin-like host surface roughness has been characterized. The average tenacity is 5.28 N cm(-2) (sigma = 0.53 N cm(-2), N = 37) in the sub-ambient pressure range of 14.6-49.0 kPa, in man-made cups for monotonically increasing applied release force. The tenacity is lower for harmonically oscillating release forces. The dynamic structural interactions between the suction cup and the oscillating applied forcing are discussed. Inspired by the matching of sharkskin riblet topology in echeneid fish suckers, it was found that biorobotic sealed contact over rough surfaces is also feasible when the suction cup makes a negative copy of the rough host surface. However, for protracted, persistent contact, the negative topology would have to be maintained by active means. Energy has to be spent to maintain the negative host roughness topology to minute detail, and protracted hitch-riding on sharks for feeding may not be free for echeneid fish. Further work is needed on the mechanism and efficiency of the densely populated tiny actuators in the fish suckers that maintain leak-proof contact with minimal energy cost and the feasibility of their biorobotic replication.
机译：chen鱼，帽贝和章鱼使用吸盘在水下粘附。当斑鱼使用吸盘“搭便车”在鲨鱼（鲨鱼的肋骨图案的皮肤）上时，显然没有任何泵或管道的存在可能是优于生物机器人吸盘的优势。一个有趣的问题是：它们如何在粗糙表面上以低能耗实现看似持久的无泄漏接触？他们的吸盘的设计特征是在水中附着在粗糙表面上的生物机器人环境中进行探索的。我们已经进行了实验，以比较人造吸盘的释放力和坚韧性与报道的帽贝和棘皮鱼的释放力和坚韧性。施加的拉伸和剪切释放力会单调增加直至释放。检查了杯的大小和类型，主体表面粗糙度，曲率和液体表面张力的影响。已经表征了鲨鱼皮状宿主表面粗糙度中水的流动。在14.6-49.0 kPa的亚环境压力范围内，用于单调增加施加释放力的人造杯中，平均强度为5.28 N cm（-2）（sigma = 0.53 N cm（-2），N = 37） 。对于谐波振荡的释放力，强度较低。讨论了吸盘和振动施加力之间的动态结构相互作用。受埃塞尼迪鱼吸盘中鲨鱼皮肋状结构的匹配的启发，发现当吸盘对宿主的粗糙表面进行负向复制时，在粗糙表面上进行生物机器人密封的接触也是可行的。但是，对于长期持久的接触，必须通过主动方式维护负面拓扑。必须花费大量的精力才能将负的主机粗糙度拓扑结构保持到细微的细节，并且长期捕捞在鲨鱼上的搭便车可能无法摆脱斑鱼的食欲。鱼吸盘中密集的微型致动器的机理和效率还需要进一步的工作，这些致动器可保持防漏接触并以最小的能源成本以及其生物机器人复制的可行性。

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