Mathematical model and nanoindentation properties of the claws of Cyrtotrachelus buqueti Guer (Coleoptera: Curculionidae)

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.