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中文摘要：
仿蛇机器人可望用于搜救等领域，但已研制的蛇型机器人均存在驱动效率低和越障能力不足等问题。文中用多功能摩擦实验机研究了驱动蛇运动的腹部及腹侧部鳞片的摩擦特性及摩擦行为，并结合体视显微镜等方法研究其表面几何结构特征。结果表明，腹鳞和侧鳞使蛇向后运动时表现的摩擦因数比向前运动要高60M，具有各向异性特性，这种不对称性与鳞片的结构特点和神经信号对腹鳞状态的调节存在直接的关系。生物蛇的腹鳞所表现的高驱动摩擦性能和低摩擦阻力为蛇型机器人仿生“皮肤”的设计提供几何仿生依据。
英文摘要：
The snake robot is expected for searching, rescuing and other occasions. The low driving effi-ciency and the insufficient ability are two major problems for robot associated with its driving part. A multi-functional wear testing machine is introduced to measure the frictional characteristics of snake skin on the abdomen and lateral, and the microscope is introduced to analyze the microstructure characteristics. The experimental result shows that the friction coefficient is different at different parts and different directions. The friction anisotropy of the skin is more than 60% of forward motion. This asymmetry has a direct relation with the skin characteristics and neural signal regulation to the skin. The high driving performance and low frictional resistance of the skin provide good geometry biological basis for the snake robot driving part-bionic “skin”.
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