Scanning electron microscopy (SEM) was used to observe the macroscopic, microscopic, and cross-sectional structures of the claws of Cyrtotrachelus buqueti Guer (Coleoptera: Curculionidae), and a mathematical model of a claw was used to investigate the structure-function relationships. To improve the quality of the SEM images, a non-local means (NLM) algorithm and an improved NLM algorithm were applied. After comparison and analysis of five classical edge-detection algorithms, the boundaries of the structural features of the claw were extracted based on a B-spline wavelet algorithm, and the results showed that the variable curvature of the beetle claw enhances its adhesion force and improves its strength. Adhesion models of the claw were established, and the mechanical properties of its biomaterials were measured using nanoindentation. Considering that the presence of water can affect the hardness and Young's modulus, both 'dry' and 'wet' samples were examined. For the dry samples, the hardness and Young's modulus were 0.197 ± 0.074 GPa and 1.105 ± 0.197 GPa, respectively, whereas the respective values for the wet samples were both lower at 0.071 ± 0.030 GPa and 0.693 ± 0.163 GPa. This study provides data that can inform the design of climbing robots.

中文翻译：

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Cyrtotrachelus buqueti Guer（鞘翅目：Curculionidae）爪的数学模型和纳米压痕特性。

采用扫描电子显微镜（SEM）观察Cyrtotrachelus buqueti Guer（鞘翅目：Curculionidae）爪的宏观、微观和横截面结构，并使用爪的数学模型研究结构-功能关系。为了提高 SEM 图像的质量，应用了非局部均值 (NLM) 算法和改进的 NLM 算法。在对五种经典边缘检测算法进行对比分析后，基于B样条小波算法提取爪的结构特征边界，结果表明，甲虫爪的可变曲率增强了其附着力，提高了甲虫爪的附着力。它的力量。建立了爪的粘附模型，并使用纳米压痕测量了其生物材料的力学性能。考虑到水的存在会影响硬度和杨氏模量，对“干”和“湿”样品进行了检查。对于干样品，硬度和杨氏模量分别为 0.197 ± 0.074 GPa 和 1.105 ± 0.197 GPa，而湿样品的相应值均较低，分别为 0.071 ± 0.030 GPa 和 0.693 ± 0.163 GPa。这项研究提供的数据可以为攀爬机器人的设计提供信息。