闫征 王立新 潘盼

摘 要：許多动物依靠自然进化形成能够展现优异功能的身体结构，以其作为仿生原型，可为工程领域存在的复杂问题提供有效解决途径。仿生原型毫-微牛级力测试技术可为揭示仿生原型运动力学机制提供必要的测试手段。从呈现优异功能特性的典型仿生原型入手，综述了用于仿生原型运动功能与材料物理特性定量表征的毫-微牛级力测试技术研究进展，重点分析了传感器测力系统、离心运动测力系统、图像处理测力系统的原理与功能，指出仿生原型毫-微牛级力测试技术后续研究应重点关注以下3个方面：1）传感器测力系统应提升其动态响应特性与测试精度，以精确表征仿生原型的运动特性;2）离心运动测力系统应提升测试平台转速信息采集精度与高速摄像机图像清晰度，以准确表征微小仿生原型与材料表面的交互作用;3）图像处理测力系统应考虑如何从图像中精确提取微位移信息，以提高测力系统的测试精度与准确度。

关键词：仿生学;仿生原型;毫-微牛级力;运动特性;测试技术

中图分类号：TB17 文献标识码：A

doi：10.7535/hbkd.2021yx03001

Research progress on milli-micro Newton level force measurement technology of bionic prototype

YAN Zheng， WANG Lixin， PAN Pan

（School of Mechanical Engineering，Hebei University of Science and Technology，Shijiazhuang，Hebei 050018，China）

Abstract：Depending on the excellent functional body structure obtained by the natural evolution， many animals have become bionic prototypes， which provide effective solutions for complex problems in the engineering field. The milli-micro Newton level force measurement technology of bionic prototype can provide the necessary testing instrument for revealing the locomotion mechanical mechanism of these bionic prototypes. Starting from the excellent functional characteristic of typical bionic prototypes， the research progress of milli-micro Newton level force measurement technology for quantitative characterization of the locomotion function and material physical properties of bionic prototypes was summarized. Especially， the principle and function of force measurement system with sensor， the principle and function of centrifugal movement force measurement system and the principle and function of image processing force measurement system were analyzed. Three aspects are pointed out some important aspects that bionic prototype milli-micro Newton level force measurement technology should focus on in the future：the force measurement system with sensor should improve the dynamic response characteristicsand test accuracy， in order to accurately characterizethe motion propertyof the biomimetic prototype; the centrifugal movement force measurement system shouldpromote the accuracy of test platform speed information collection and the imagedefinition of high-speed camera， in order to accurately characterize interaction between the micro-bionic prototype and material surface;theimage processing force measurement systemshould consider how to accurately extract micro-displacement information from images， in order to improve the test precision and accuracyof the force measurement system.

Keywords：bionic;bionic prototype;milli-micro Newton level force;locomotion characteristic;measurement technology

工程仿生学依靠学科前沿性正逐步渗透到人类日常生活各个领域，因通过模拟生物獨特的身体结构与功能特性可为复杂问题提供有效解决途径，而受到国内外众多学者的广泛关注[1]。大自然数百万年的发展演变使得生物逐步获得适应栖息环境的生存能力和独特的运动功能特性。……